Vehicle Terrain-Tracking Systems

ABSTRACT

The present disclosure relates to terrain-tracking or vehicle suspension systems that include travel at least one of the front or the rear of the vehicle. Various embodiments include a suspension above the vehicle (upper suspension). Embodiments include a suspension or travel in at least one of the upper vehicle (rear and/or front), middle vehicle (rear and/or front), or below vehicle (rear and/or front). Various embodiments included a combination thereof.

CROSS-REFERENCE

This application is continuation of U.S. patent application Ser. No.15/256,561, now U.S. Pat. No. 10,351,306, filed on Sep. 3, 2016, whichis a continuation-in-part of International Application No.PCT/US2015/018539, with an International filing date of Mar. 3, 2015,which claims the benefit of U.S. Provisional Patent Application Ser. No.61/947328 filed on Mar. 3, 2014. The entire contents of U.S. patentapplication Ser. No. 15/256,561, PCT/US2015/018539 and U.S. ProvisionalApplication No. 61/947328 are incorporated by reference herein for anyand all purposes.

FIELD OF THE INVENTION

The disclosure relates generally to a vehicle structure for carrying avehicle payload that includes a rider and specifically to a vehicleterrain-tracking system.

BACKGROUND

Bicycle frames may be equipped with no suspension, only a frontsuspension, or with both a front and rear suspension. Bicycles with onlyfront suspension are referred to as hardtail bicycles. Bicycles withonly a rear suspension are fairly uncommon, as bicycles with a rearsuspension generally also have a front suspension. Bicycles withsuspension in both the front and rear of the frame are referred to asfull-suspension bikes.

In the distant past, bicycles often had no suspension other than theflex of the frame and softness of the pneumatic tires. Thus, thebicycles were essentially “rigid,” such that the bicycle frametransmitted shock from riding on uneven terrain directly to the riderthrough the seat, pedals, and handlebars. The transmitted shock throughthe rigid frame to the rider resulted in discomfort to the rider. Italso contributes to loss of control and/or energy, especially with amountain bike on rough terrain.

The most common frame design for a conventional upright bicycle consistsof two triangles (i.e., a “diamond frame”), a main triangle forming thefront of the frame and a paired triangle forming the rear of the frame.In the diamond frame, the main “triangle” consists of four tubes: thehead tube, top tube, down tube and seat tube. The head tube contains theheadset, which is the interface with the front forks and thehandlebars—allowing them to rotate together relative to the frame. Thetop tube connects the head tube to the seat tube at the top of theframe. The down tube connects the head tube to the bottom bracket shell.The bottom bracket shell is located at the bottom of the seat tube. Abottom bracket is housed within the bottom bracket shell. The bottombracket on a bicycle includes a crankset, which rotates. The bottombracket comprises a spindle that houses the crankset and bearings, whichallow the crankset to rotate relative to the spindle. The crankset isthe component of a bicycle drivetrain that converts the reciprocatingmotion of the rider's legs into rotational motion used to drive thechain, which in turn drives the rear wheel. The crankset consists of oneor more sprockets, also called chainrings attached to cranks to whichthe pedals attach.

The rear triangle consists of the seat tube connected by paired chainstays at the bottom of the seat tube and seat stays at an upper portionof the seat tube. The rear triangle connects to the rear fork ends orrear dropouts, where the rear wheel is attached. The rear fork endsinclude slots or apertures in the bicycle frame on each side of the rearwheel where the axle of a bicycle wheel is attached. The chain stays runconnecting the bottom bracket to the rear fork ends. The seat staysconnect the top of the seat tube, often located at or near the samepoint as the top tube, to the rear fork ends.

In order to reduce the discomfort associated with bicycles ridden onuneven terrain, suspension systems were developed. Besides providingcomfort to the rider, suspension systems improve traction and safety byhelping to keep one or both wheels in contact with the ground. Frontsuspension systems are often implemented using a telescopic forkconfigured as a shock absorber with a spring and damper in order toreduce transmitted shock. The implementation of the front suspensionsystems is relatively uncomplicated as the front wheel is supported byleft and right forks that attach to a single head tube at the front ofthe bicycle frame. Rear suspension system designs may be morecomplicated due to the fact that the rear wheel is typically supportedboth by substantially horizontally oriented chain stays that areconnected to the bottom bracket shell below the seat post and framestays, which extend from the rear fork ends to an upper portion of theseat tube.

Rear bicycle frame suspensions are most commonly found in mountainbikes, due to the rough terrain experienced by mountain bike riders. Therear suspension, as with the front suspension, allows the rear wheel tomove up and down relative to the rider to absorb shock forces and alsoto improve tire contact with the ground in rough terrain. Many earlyrear suspension designs included a shock absorber located between therear frame and the seat post mounted in varying ways. Some rearsuspensions also modified the conventional rear frame designs byutilizing additional frame members, or linking members between theconventional rear frame with the chain stays at the bottom of the seattube and seat stays at an upper portion of the seat tube and the seatpost. Some rear suspensions also modified the configuration of the seattube.

The single pivot is the simplest type of rear suspension. The rear axleis held by a swingarm which is connected to the frame via a single pivotlocated on the bottom tube near the bottom bracket shell. When thesuspension moves through its travel, the path the rear axle describes isa circle around the single pivot point. The rear triangle may simply bethe swingarm. The rear shock may also be attached between the seat tubeand the swingarm. This configuration of the single pivot design allowsfor a fairly linear leverage ratio between wheel travel and shockabsorber travel. The main advantage of the single pivot design is itssimplicity. It has few moving parts, few pivot points, is relativelyeasy to design and has good small bump compliance. Challenges with thissingle pivot design are brake jack and chain growth. Pedal inducedforces and rider bobbing can rob the system of efficiency. Due to thelimited power output of a human on a bicycle any lack of efficiency isundesirable. Some of these designs are heavy and tend to bounce up anddown while a rider pedals. This movement takes power out of a rider'spedal stroke, especially during climbs.

Input from hard braking efforts also negatively affects full suspensiondesigns. When a rider applies the brakes, some of these suspensionscompress into their travel and lose some of their ability to absorbbumps. This may happen in situations where the rear suspension is neededmost. When braking efforts cause the suspension to compress it isreferred to as brake squat, when braking causes the suspension to extendit is called brake jack.

Some rear suspensions were designed to overcome or mitigate the aboveproblems. One variation of single pivot suspension places the pivot infront of and above the bottom bracket, at a height above the smallestchain ring or higher. This gives the design a significant amount ofanti-squat when pedaling in smaller chain rings, which helps reduce lossof energy due to squat. This is particularly of importance on steepclimbs, when one would use the smaller chain rings. However, this is atrade-off since the pivot's placement causes the design to suffer morefrom pedal kickback.

Another variation on the single pivot design is the split pivot design.The split pivot design is a special case of linkage driven single pivotin which one of the four-bar's pivot points coincides with the rearaxle. This allows for the disc brake caliper to be mounted on thefloating linkage instead of on the swingarm. As a result of this thebraking torque now interacts with the suspension via the floatinglinkage. The linkages can be designed such that this has a positiveeffect on suspension performance under braking, typically reducing brakejack. Furthermore, the relative rotation between brake disc and brakecaliper as the suspension goes through its travel is different from thatin single pivot designs. The four linkages in a split pivot designinfluence how braking torque is transmitted, how the brake caliper movesin relation to the disc and influence the leverage ratio between wheeltravel and shock travel. Since these influences may have a differentoptimum linkage design, the bike's design has to strike a balance.

Other suspension designs rely on the shock absorber design to reducepedal-induced bobbing and squat. There are many additional rearsuspension designs in the prior art. However, a need exists in the artfor further improvements of bicycle rear suspension systems to furtherimprove the performance of the rear suspension under braking,acceleration, and further improved anti-squat anti-dive characteristicswithout complicating trade-offs in performance. It is for these andother concerns that the present disclosure is offered.

SUMMARY

The present disclosure relates to terrain-tracking or vehicle suspensionsystems that include travel in at least one of the front or the rear ofthe vehicle. Embodiments may include a suspension or travel in at leastone of the upper vehicle (rear and/or front), middle vehicle (rearand/or front), or below vehicle (rear and/or front). Various embodimentsmay include any such combination thereof. The various suspensions ortravel may be actively monitored and/or controlled real time. Suchsuspensions are tuned to vary riding parameters during operation of thevehicle to provide enhanced vehicle performance.

Various embodiments include a terrain-tracing system for a vehicle fortraveling over terrain on a terrain-engaging member. The vehicle has aframe and the terrain-tracing system suspends the frame relative to theterrain. The system includes a terrain-engaging member mounting assemblyhaving a first end and a second end; the mounting assembly coupled tothe frame generally at the first end and coupled the terrain-engagingmember generally at the second end. The system also includes a slidelink coupled to the frame and to the mounting assembly, wherein theslide link is configured and arranged to translate along a frame memberof the frame. The system may further include a control link coupled tothe frame and the terrain-engaging member mounting assembly.

The slide link includes an aperture that is configured and arranged toreceive the frame member, such that when the slide link translates alongthe frame member, the slide link slides along the frame member that isreceived by the slide link aperture. An angle between the frame memberand the frame is fixed such that when the slide link translates alongthe frame member, an angular orientation of the slide link relative tothe frame is fixed. The frame member is rotationally coupled to theframe such that an angle between the frame member and the frame isvariable and when the slide link translates along the frame member, anangular orientation of the slide link relative to the frame varies withthe angle between the frame member and the frame.

An angle between the mounting assembly and the frame is variable and anangle between the mounting assembly and the frame member is fixed suchthat when the mounting assembly rotates relative to the frame, anangular orientation of the slide link relative to mounting assembly isfixed. When the slide link translates along frame member, the angularorientation of the slide link relative to the mounting assembly is fixedand when the mounting assembly rotates relative to the frame, an angularorientation of the slide link relative to the frame varies with thebetween the mounting assembly and the frame.

The system may be a front suspension, the terrain-engaging member is afront suspension, the terrain-engaging assembly is a fork, and the slidelink and control link enables a relative translation between the forkand the frame. The vehicle includes a handlebar and the slide link andthe control link enables a relative rotation between the handlebar andthe frame. The system further includes a coupling between the relativetranslation between the fork and the frame and the relative rotationbetween the handlebar and the frame.

In some embodiments, the slide link includes an aperture and the framemember is a stanchion and is pivotally coupled to the frame, the slidelink aperture receives the stanchion such that the slide link slidesalong the barrel. The control link includes at least one of a gearbox,transmission, or a power source. The frame includes a seat tube and abottom bracket, wherein a forward end of the control link is pivotallycoupled to the mounting assembly and a rearward end of the control linkis pivotally coupled to the frame forward of the bottom bracket. Theframe member includes at least a portion of the seat tube.

The system may further include at least one eccentric link that enablesadjusting an angular orientation of the frame member relative to avertical line. The at least one eccentric link enables adjusting anangular orientation of the frame member relative to a vertical line. Theslide link is pivotally coupled to the arm. The terrainengaging-engaging member is a rear wheel and the mounting assembly formsa swingarm for the vehicle. The swingarm, the slide link, and thecontrol link form a middle rear terrain-tracing sub-system that providesa middle travel of the rear wheel relative to the frame. The vehiclefurther includes a saddle that is coupled to the frame and supports atleast a first portion of a mass of a rider and the system furtherincludes an above rear terrain-tracing sub-system that provides an abovetravel of the saddle relative to the frame.

The middle and above rear terrain-tracing subsystems are coupled suchthat a feedback signal is generated between the middle and above rearterrain-tracing subsystems in response to at least one of the rearmiddle travel or the rear-above travel. The system further includes amiddle front terrain-tracing sub-system and an above frontterrain-tracing subsystem. The middle and above front terrain-tracingsubsystems are is coupled such that a front feedback signal is generatedbetween the middle and above front terrain-tracing subsystems inresponse to at least one of the front-middle travel or the front-abovetravel. At least one of the middle or the above rear terrain-tracingsubsystems is coupled to at least one of the middle or the above frontterrain-tracing subsystems.

The vehicle further includes a foot member that is coupled to the frameand supports at least a second portion of the mass of the rider and thesystem further includes a below rear terrain-tracing sub-system thatprovides a below travel of the foot member relative to the frame. Themiddle, above, and below rear terrain-tracing subsystems are coupledsuch that a feedback signal is generated between the middle, aboveterrain-tracing subsystems in response to at least one of the middletravel or the above travel. The vehicle further includes a foot memberthat is coupled to the frame and supports at least a second portion ofthe mass of the rider and the system further includes a below rearterrain-tracing sub-system that provides a below travel of the footmember relative to the frame.

The middle and below rear terrain-tracing subsystems are coupled suchthat a feedback signal is generated between the middle, aboveterrain-tracing subsystems in response to at least one of the middletravel or the above travel. The system further includes a cantileveredbottom bracket. The frame member is configurable in an anti-squatorientation and a pro-squat orientation. The system further includes asensor that actively adjusts a terrain-tracing system parameter inresponse to a current position of a center of mass of a vehicle payload.

In other embodiments, a vehicle includes a frame member that includes anabove-frame portion, a middle frame portion, and a below frame portion,a front ground-engaging member coupled to a front portion of the middleframe portion, and a rear ground-engaging member coupled to a rearportion of the middle frame portion. The vehicle may also include asaddle, a hand member, and a suspension system. The saddle is coupled toa rear portion of the above-frame portion and configured to support afirst portion of a mass of a rider when the rider is seated in thesaddle. The hand member is coupled to a front portion of the above-frameportion and configured to support a second portion of the rider's masswhen at least one hand of the rider is in contact with the hand member.

The suspension system includes a first above-suspension that provides afirst above-vehicle travel in response to a vehicle load, wherein thefirst above-vehicle travel includes a relative travel between the framemember and at least one of the saddle or the hand member. The system mayinclude a first middle-suspension that provides a first middle-vehicletravel in response to the vehicle load, wherein the first middle-vehicletravel includes a relative travel between the frame member and at leastone of the front ground-engaging member or the rear ground-engagingmember. The system also includes a first suspension coupling thatprovides a first feedback load based on at least one of the firstabove-vehicle travel or the first middle-vehicle travel and the firstfeedback load is included in the vehicle load.

The first above-suspension is a rear-above suspension, the firstabove-vehicle travel is a relative travel between the frame member andthe saddle, the first middle-suspension is a rear middle-suspension, andthe first middle-vehicle travel is a relative travel between the framemember and the rear ground-engaging member.

The suspension system may further include a front-above suspensionportion, a front-middle suspension portion, and a second suspensioncoupling. The front-above suspension portion provides a secondabove-vehicle travel in response to the vehicle load. The secondabove-vehicle travel includes a relative travel between the frame memberand the hand member. The front-middle suspension provides a secondmiddle-vehicle travel in response to the vehicle load, wherein thesecond middle-vehicle travel includes a relative travel between theframe member and the front ground-engaging member. The second suspensioncoupling provides a second feedback load based on at least one of thesecond above-vehicle travel or the second middle-vehicle travel and thesecond feedback load is included in the vehicle load.

The vehicle further includes a foot member coupled to a rear portion ofthe below frame portion and configured and arranged to support a thirdportion of the rider's mass when at least one foot of the rider is incontact with the foot member. The suspension system further includes arear below-suspension that provides a first below-vehicle travel inresponse to the vehicle load, wherein the first below-vehicle travelincludes a relative travel between the frame member and the foot member.

The first above-suspension is a front-above suspension, the firstabove-vehicle travel is a relative travel between the frame member andthe hand member, the first middle-suspension is a front-middlesuspension, and the first middle-vehicle travel is a relative travelbetween the frame member and the front ground-engaging member. Thesuspension system further includes a front below-suspension thatprovides a first below-vehicle travel in response to the vehicle load,wherein the first below-vehicle travel includes another relative travelbetween the frame member and the front ground-engaging member.

The first middle-suspension includes a slide link that couples the framemember and the at least one of the front ground-engaging member or therear ground-engaging member. The first middle-suspension includes aslide link that couples the frame member and the at least one of thefront ground-engaging member or the rear ground-engaging member. Theslide link translates along a member that is pivotally coupled to theframe member. The slide link translates along a member that is rigidlycoupled to the frame member. The first middle suspension furtherincludes an eccentric link that pivotally couples a rear swingarm andthe frame member. The first middle-suspension is a front-middlesuspension and the first middle-vehicle travel is a relative travelbetween the frame member and the front ground-engaging member.

The first middle-suspension includes an eccentric link that pivotallycouples the frame member and the at least one of the frontground-engaging member or the rear ground-engaging member. The eccentriclink provides the first suspension coupling. The frame member includes aflexible top tube member that flexibly couples the saddle to the framemember such that the first above-vehicle travel includes a relativetravel between the frame member and the saddle. The frame memberincludes a top tube member that is pivotally couples the saddle to theframe member such that the first above-vehicle travel includes arelative travel between the frame member and the saddle.

The first above-vehicle travel includes a relative rotation between thehand member and the frame member and the first middle-vehicle travelincludes a relative translation between the front ground-engaging memberand the frame member. The vehicle suspension system further includes abiasing member to at least partially inhibit the transmittance of thefeedback load between the first above-suspension and the first middlesuspension. The biasing member is a leaf spring.

The vehicle suspension system includes a control link that pivotallycouples a rear member to the frame member, wherein the rear member iscoupled to the rear ground-engaging member. Another link further couplesthe rear swingarm to the frame member. The other link is oriented insubstantial alignment a drivetrain load of the vehicle, such that amajority of the drivetrain load is transmitted by the other link.

The other link is a slide link that translates along a stanchion that isrigidly coupled to the rear swingarm. The control link is coupled to therear swingarm such that the control link crosses the control link. Thecontrol link is coupled to the rear swingarm such that the control linkdoes not cross completely above the control link. The control link iscoupled to a foot member that is coupled to the frame member to enable arelative travel between the foot member and the frame member, such thata rotation of the control link relative to the frame member induces therelative travel between the foot member and the frame member.

At least one of the first above-vehicle travel or the middle-vehicletravel is a digressive travel. At least one of the first above-vehicletravel or the middle-vehicle travel is a progressive travel. The firstabove-vehicle travel is a compensatory travel relative to the firstmiddle-vehicle travel. A travel ratio between the first above-vehicletravel and the first middle-vehicle travel is based on at least thefirst suspension coupling.

In other embodiments, a vehicle includes a plurality of ground-engagingmembers, a frame supported by the plurality of ground-engaging members,a saddle that supports at least a first portion of a mass of a rider,and a handle member that supports at least a second portion of the massof the rider. The vehicle also includes a braking system, aground-tracing system, and a sensing system. The braking systemdissipates energy away from at least one of the ground-engaging members.The ground-tracing system couples at least one of the ground-engagingmembers to the frame and suspends the frame relative to the at least oneground-engaging member. The sensing system at least partially generatesa center of mass (CM)-shift signal based on a CM-shift of a vehiclepayload, wherein the vehicle payload includes at least the mass of therider. At least one operational parameter of the vehicle is based on atleast the generated CM-shift sign.

The CM-shift signal is generated at the handle member. Theground-tracing system includes at least a middle suspension thatprovides a middle travel between the frame and at least one of theground-engaging members and an above suspension that provides an abovetravel between the frame and at least one of the saddle or the handlemember. The middle suspension is a rear middle suspension, the middletravel is between the frame and a rear ground-engaging member, the abovesuspension is a rear-above suspension, and the above travel is betweenthe frame and the saddle member.

The middle suspension is a front-middle suspension, the middle travel isbetween the frame and a front ground-engaging member, the abovesuspension is a front-above suspension, and the above travel is betweenthe frame and the handle member. The ground-tracing system includes atleast a middle suspension that provides a middle travel between theframe and at least one of the ground-engaging members and a belowsuspension that provides a below travel between the frame and at leastone of a foot member or a front ground-engaging member.

The middle suspension is a rear middle suspension, the middle travel isbetween the frame and a rear ground-engaging member, the belowsuspension is a rear below suspension, and the below travel is betweenthe frame and the foot member. The middle suspension is a front-middlesuspension, the middle travel is includes a translation between theframe and a front ground-engaging member, the below suspension is afront below suspension, and the below travel includes a rotation betweenthe frame and the front ground-engaging member.

The sensing system includes a coupling between a first relative travelof the ground-tracing system and a second relative travel of theground-tracing system. The coupling between the first and the secondrelative travel includes at least a mechanical link. The couplingbetween the first and the second relative travel includes at least oneof a pneumatic coupling or a hydraulic coupling. The coupling betweenthe first and the second relative travel includes at least at least anelectrical coupling. The coupling generates the CM-shift signal. Thefirst and the second relative travels are compensating travels such thata geometry parameter of the vehicle remains substantially constant overa range associated with the first and the second relative travels.

At least one of the first or second relative travels generates aprogressive variance on the operation parameter. At least one of thefirst or second relative travels generates a digressive variance on theoperation parameter. The sensing system further includes a clutchassembly to disengage and engage the coupling. A travel aspect ratiobetween the first and the second relative travels is based on thecoupling. The sensing system further includes a controlling unit thatcontrols a coupling strength of the coupling.

The coupling includes at least one of a plurality of gears, atransmission assembly, or a power source. The operational parametersinclude a travel aspect ratio between the first and the second relativetravels. The frame geometry of the frame is based on a geometryparameter. The ground-tracing system is parameterized by a suspensionparameter. The braking system is parameterized by a braking parameter.The drivetrain is parameterized by a drivetrain parameter. Theoperational parameter includes at least one of geometry parameter, thesuspension parameters, the braking parameter, or the drivetrainparameter. The operational parameter includes at least one of a springrate, or damping strength associated with the ground-tracing system.

Other embodiments of a portion of a vehicle include a frame, a frontground-engaging member, a front ground-tracking system, and a handgrip.The front ground-tracking system couples the front ground-engagingmember to the frame and is configured and arranged to provide a relativemovement between the front ground-engaging member and the frame inresponse to a vehicle load. The handgrip is coupled to the frame andconfigured and arranged to provide a point of contact between a hand ofa rider and the vehicle. The vehicle portion may also include a sensorthat is configured and arranged to sense a generally upward load on thehand grip, wherein in response to sensing the generally upward load onthe hand grip generating an adjust signal that at least partiallyinhibits the relative movement between the front ground-engaging memberand the frame.

In other embodiments, a vehicle includes a frame, a front wheel mountingassembly that is coupled to the frame and is configured and arranged tocouple a front wheel to the vehicle, and a handlebar member that iscoupled to the frame and is configured and arranged to provide a pointof contact between a hand of a rider and the vehicle. The vehicle alsoincludes a front ground-tracking system that, in response to a vehicleload, provides a relative translation between the frame and the frontwheel mounting assembly along a translation axis and a relative rotationbetween the handlebar member and the frame about a rotation axis,wherein the translation axis is substantially transverse to the rotationaxis.

In other embodiments, a vehicle includes a frame and a rear wheelmounting assembly configured and arranged to couple a rear wheel to thevehicle. The rear wheel mounting assembly includes a drivetrain memberthat is substantially aligned with an axis of a drivetrain of thevehicle and a stay member that is oriented at an angle with respect tothe drivetrain member. Each of the drivetrain member and the stay memberis coupled to the frame. At least one of the drivetrain member or thestay member is a flexible member such that the angle between thedrivetrain member and the stay member varies in response to a vehicleload.

In some embodiments, a vehicle includes a frame with a head member andfront wheel mounting assembly configured and arranged to couple a frontwheel to the vehicle; at least a portion of the front wheel mountingassembly being received by the head member of the frame, such that thefront wheel mounting assembly is coupled to the front wheel. The vehiclealso includes a biasing member at least partially disposed within thehead member that is configured and arranged to bias a relative travelbetween the frame and the front wheel mounting assembly.

The vehicle includes an energy-dissipating member at least partiallydisposed within the head member that is configured and arranged todissipate at least a portion of energy associated with the relativetravel between the frame and the front wheel mounting assembly. Thebiasing member is an elastomeric member. The biasing member is amicrocellular urethane spring. A suspension travel occurs interior tothe head tube.

In other embodiments, a vehicle includes a head tube and a concentricsteerer tube configuration that includes at least a first steerer tubeconcentric to a second steerer tube, wherein at least a portion of theconcentric steerer tube configuration in positioned within the headtube. A lower link couples a movement of the concentric steerer tubeconfiguration with another movement of a wheel mounting assemblyincluded with the vehicle.

In some embodiments, a signal originating between a handle bar and ahuman hand is generated. The signal measures at least one of a shift ofCenter-of-gravity (CG)/mass shift of a human or a payload, wherein thesignal enables an adaptation of the vehicle or a conveyance system toaffect a ride element, wherein the ride element may include at least oneof a suspension, vehicle geometry, braking, and power, drive terrain. Acorresponding control over another suspension, braking, vehiclestructure, geometry adjusting devices is enabled by at least the signal.A range of kinematic movement that corresponds with improved braking,drive train, geometry adjustments and suspension efficiency is enabledby at least the signal. An affiant use of pedaling energy that iscaptured naturally in the process of pulling back on the bar increases aspring rate that then stiffens the below vehicle suspension increasingthe use of energy output in the vehicle structure. In variousembodiments, a vehicle had a suspension corresponding below and abovethe vehicle that contains variable ratio adjustments of travel, springforces, damping forces.

BRIEF DESCRIPTION OF THE DRAWINGS

Preferred and alternative examples of the present invention aredescribed in detail below with reference to the following drawings:

FIG. 1 illustrates various embodiments of a rear middle suspension for atwo-wheeled vehicle that includes a slide link.

FIG. 2 shows the kinematic behavior of a slide-link type rear middlesuspension coupled to a rear-under or below suspension via cantileverlink.

FIG. 3 shows a bicycle that includes a combination of a rear middle anda rear-above suspension.

FIG. 4 illustrates a bicycle that includes another combination of a rearmiddle and a rear-above suspension.

FIG. 5 provides various embodiments of rear suspension systems for abicycle.

FIG. 6 provides various embodiments of a rear suspension that employs asliding linkage and an eccentric link as a guide link.

FIG. 7 shows various embodiments of a rear suspension that employmultiple eccentric links.

FIG. 8 illustrates various embodiments of a rear suspension that employsa cross over link to couple the above suspension with the middlesuspension.

FIGS. 9A-9B show a variety of rear middle suspensions that arecombinable with rear-above and below suspensions.

FIG. 10 illustrates the path of the instant center of rotation (IC), aswell as the anti-squat and anti-rise behavior of several embodiments ofa rear middle suspension.

FIG. 11A shows a biasing member and an energy-dissipating memberemployed to partially isolate a travel associated with a rear middlesuspension from a travel associated with a rear-above suspension.

FIG. 11B illustrates an automated saddle adjusting system incombinations with a rear middle and above suspension.

FIG. 12 shows a coupled front-middle, above, and below suspension on abicycle.

FIG. 13 provides an exploded view of the coupled front-middle, above,and below suspension of FIG. 12.

FIGS. 14A-C shows various embodiment of a front-middle, above, and belowsuspension.

FIG. 15A shows the kinematic behavior of the path of an IC of rotationfor a front-middle, above, and below suspension that includes a lowerlink.

FIG. 15B shows an embodiment of a front-middle, above, and belowsuspension in both a compressed and an uncompressed state.

FIG. 15C in combination with 15B show various methods providing acontrolling means for the front-middle, upper, and lower suspensions.

FIG. 16 illustrates a bicycle that includes an above, middle and belowrear suspension as well as an above, middle, and below front suspensionand an aerobar.

FIG. 17 shows various embodiments of rear and front suspension systemsfor a bicycle.

FIG. 17A shows exemplary curves for a vertical force vs axledisplacement for the rear wheel with the rider in a standing and sittingposition for FIG. 17.

FIG. 18 illustrates various embodiments of a rear and front suspensionthat includes a plurality of controller and sensor devices.

FIG. 19 shows an electric bicycle that includes an embodiment of anactively controlled front and rear suspension system that is consistentwith the various embodiments disclosed herein.

FIG. 20 shows a motorcycle that includes an embodiment of a front andrear suspension system that is consistent with the various embodimentsdisclosed herein.

FIG. 21 shows a rear middle suspension that employs a slide link thatslides along a frame's down tube.

FIG. 22 shows a rear middle suspension that employs a first slide linkthat slides along a frame's down tube and a second slide link thatslides along the frame's seat tube.

FIGS. 23A-B shown a folding bicycle that includes a rear middle andbelow suspension system as well as a front-middle, above, and belowsuspension that is consistent with the various embodiments disclosedhere.

DESCRIPTION

To facilitate the understanding of this invention, a number of terms aredefined below. Terms defined herein have meanings as commonly understoodby a person of ordinary skill in the areas relevant to the presentinvention. Terms such as “a,” “an,” and “the” are not intended to referto only a singular entity, but include the general class of which aspecific example may be used for illustration. The terminology herein isused to describe specific embodiments of the invention, but their usagedoes not delimit the invention, except as outlined in the claims.

The present disclosure presents various embodiments of terrain-trackingor -tracing systems for a vehicle. Vehicles generally include one ormore terrain-engaging members, such as wheels or tires. The terraintracking systems disclosed herein enhance the vehicle's ability to trackor trace the terrain such that the terrain-engaging members are betterenabled to remain in contact with the terrain. Furthermore, thesesystems enable a more efficient transfer of drivetrain energy in thevehicle. Accordingly, these systems contribute to the vehicle's abilityto travel over terrain by enhancing the handing and stability of thevehicle. Furthermore, the terrain-tracking systems suspend, othervehicle components, such as the components that are in contact with arider or with the ground-engaging members. Thus, these systems isolate arider from terrain induced forces and/or loads. The terrain-trackingsystems may be suspension systems.

Although the disclosure is not constrained to any vehicle type, many ofthe non-limiting exemplary embodiments of terrain-tracking systemsthroughout are applied to two-wheeled vehicles such as pedaled bicycles,electric bicycles, scooters, motorcycles, and the like. Many suchvehicles include at least a frame and two ground-engaging members: afront wheel and a rear wheel. The wheels support the frame and providecontact with the terrain, as well as propel the vehicle over theterrain. Some of the various embodiments include a rear suspension thatat least suspends the frame relative to the rear wheel. Some of theembodiments include a front suspension that at least suspends the framerelative to the front wheel. Furthermore, some embodiments include acombination of front and rear suspension systems or subsystems.

Suspension systems typically enable a relative travel or movement of thesuspended elements. For instance, in response to a terrain-inducedforce, such as a wheel rolling over uneven terrain, a rear suspensionenables at least a relative travel between a rear wheel and the vehicleframe. The front suspension enables at least a relative travel betweenthe front wheel and the vehicle frame. However, during operation of avehicle, the wheels are not the only vehicle components that are exposedto vehicle loads.

In addition to terrain-induced forces (generally referred to asbottom-up forces or loads), during the operation of the vehicle, thepresence of the rider or other payload masses generates other forcesthat may generally be categorized as top-down loads. Such top-downforces include, but are not limited to loads generated by the rider.

In regards to vehicles such as bicycles, wherein the rider's massrelative to the vehicle is significant, a shift in the rider's CMgenerates top-down forces on the vehicle that vary the performance ofthe vehicle and comfort of the rider during operation of the vehicle.Many of these top-down forces are transferred to the vehicle at thepoints of contact between the rider and the vehicle, i.e. thehandlebars, the seat or saddle, and the pedals/cranks/bottom brocket orfoot pegs. As an example, when a rider is sitting, 50% of the rider'smass may be supported by the saddle. As the rider shifts to a standingposition, around 65% of the mass may be supported by the pedals. Theproportion of the rider's mass that the handlebars supports also variesas the CM of the rider shifts. The load path and reactionary forcesshift within the vehicle structure. Thus, suspending such elementsrelative to the frame (and ground-engaging members) provides greaterisolation from the top-down forces.

As such, in addition to suspending the rear wheel (loosely defined asrear middle suspension), various rear suspension embodiments suspendand/or provide relative travel between the frame and the upper point ofrider contact in the rear of the vehicle. Such rear upper points ofrider contact include but are not limited to a seat or saddle structure.Because such suspension/travel is generally in the rear/above portion ofthe vehicle, these suspensions may be referred to as rear-above or uppersuspensions.

Some embodiments suspend and/or provide a relative travel between theframe and the lower point of rider contact in the rear of the vehicle.Such rear lower points of rider contact include, but are not limited toa bottom bracket or foot pegs. Because such suspension/travel isgenerally in the rear/below portion of the vehicle, these suspensionsmay be referred to as rear-under or below suspensions. According,various embodiments of rear suspensions may include any combination ofrear-above, middle, and below suspensions.

Likewise, the front suspension may include a combination of front-above,middle, and below suspensions. Front-middle suspensions suspend theframe with respect to the front wheel and enable a relativetranslational travel between the front wheel and the frame. Front-middletravel may include the travel of element in the front-middle vehicleportion, such as travel in a head tube of a bicycle or other two-wheeledvehicle. Front-above or upper suspensions provide a relative suspensionor travel between the frame and the upper point of contact with therider in the front of the vehicle. Such front upper points of ridercontact include, but are not otherwise limited to handlebars, handgrip,throttle members, or the like. Front below suspensions further suspendthe frame with respect to the front wheel and enable a further relativetravel between the front wheel and the frame. Below travel mayincorporate rotational relative travel.

Various vehicles may include any combination of the various embodimentsof suspension subsystems disclosed here. Because there are six broadsub-system types, there are 2⁶=64 possible broad suspensioncombinations. Furthermore, any suspension sub-system may be coupled toany other suspension sub-system included on the vehicle to providesuspension feedback and enhance the vehicle's riding characteristics, aswell as the rider's comfort.

For instance, a vehicle may include a rear-above suspension that iscoupled to the vehicle's rear middle suspension. In response to travelin the middle suspension, the feedback signal may generate acompensating travel in the above suspension. Such compensating travelmay actively adjust the frame geometry or positioning of the rider inreal time. One benefit of such adjustability is the feature of providingvehicles a greater amount of suspension travel because the framegeometry can be configured to remains substantially constant over agreat amount of travel. Also, one suspension sub-system may act as atracer, or input, suspension for another. As discussed throughout, bycoupling the various suspension subsystems, the kinematic behavior ofthe vehicle may be controlled in real-time, resulting in a vehicle withenhanced handling and performance. Various embodiments employmechanical, hydraulic, pneumatic, electrical, and other such couplingmeans to provide feedback between the suspension subsystems.

As discussed further below, sensor means may be employed to activelymonitor real time riding conditions. Signals from such sensor means areused to control and/or adjust vehicle or suspension parameters such thatthe vehicle responds, in real time, to the current terrain conditions.For instance, sensor means may detect an upward or downward force on thehandlebars and actively adjust a responsiveness or stiffness in thefront suspension. Likewise, sensors means may detect the position orshift of the rider's CM and actively adjust suspension parameters inresponse to such a shift. Sensor means include, but are not limited tomechanical sensors, such as links. Such controllably parameters include,but are not limited to suspension spring and damping rates, travelratios between various suspension subsystems, frame geometry, and thelike.

It is advantageous to provide a combination of upper, middle, and belowsuspension in at least one of the front or the rear of a vehicle, asdescribed herein. Furthermore, it is advantageous to provide both afront and a rear suspension system, each of which includes a combinationof middle, upper, and lower suspensions. For instance, simultaneoustravel both above and below the vehicle stabilizes the geometry bycompensating for shifts in the position of the CG or CM of a rider whenriding the vehicle. For some vehicles, such as a bicycle, a shift in theCM of the rider is significant because, under normal conditions, themass of a rider is much greater than the mass of the vehicle.

As is evident in the many embodiments discussed herein, existing rearand front suspensions may be modified or otherwise adapted to includemany of the various advantages and/or features discussed within,including but not limited to upper, lower, and middle rear suspensions.

Furthermore, travel in at least one of the above, middle, and below maybe compensating travel for variances introduced by travel in the othersuspension. Various embodiments of the suspension systems, directedtowards bicycles, provide both upper and lower travel in the rear and/orfront of the bicycle, of which the effects are compensating to middletravel (and vice versa) and stabilize the geometry of the bicycle.

Travel above, below, and in the middle of the vehicle may provideadjustments to the performance of the vehicle, including the comfort andsafety of a rider and any payload being ferried by the vehicle. Forinstance, controlling travel above and below the vehicle may provideenhanced braking and drive train capabilities, as well as enhancedsuspension performance. In addition, multiple travels may provideadjustments to the vehicle's geometry, resulting in a vehicle geometrymore tailored to the specific real time riding conditions.

The suspension systems dynamically control and/or regulate, in realtime, the upper, lower, and middle travels. By actively monitoring andcontrolling the above, middle, and below travel, the various suspensionsystems may hold the travels in a fixed or constant ratio duringoperation of the vehicle. The systems may control the travels asindependent travel, or may control the upper travel in response to thelower travel or suspension and vice versa. The upper or middlesuspension may provide feedback to the lower suspension and vice versa.

In many riding conditions, fixing the ratio between the upper, middle,and lower suspensions improves the performance of the vehicle, includingvehicle maneuverability and stability, safety of a payload, and comfortof a rider. The upper suspension may compensate for these variances byresponding to the travel in the lower and/or middle suspension andundergoing compensating travel. In many riding conditions, the upper,middle, and lower suspensions may be operated as a single unit.Operating the multiple suspensions as a single unit enables fixing thesuspension ratios and providing compensating travel in the upper andlower suspensions. As discussed below, in other embodiments, the travelratios may be varied as a function of travel length. For instance, thetravel rations may be digressive or progressive travel ratios.

For some riding conditions, such as when the terrain is extreme,controlling the suspension systems so that at least one of the upper,middle, and lower travels are more responsive to the terrain may bedesired. Various embodiments of the systems are adaptive to the ridingconditions, and vary in real time the suspension ratio when appropriate.In some riding conditions, the upper and lower suspensions are operatedas a single unit. In other conditions, each of the suspensions isoperated independently. Varying the ratio between the upper, middle, andlower travels allow for the vehicle to respond to more extreme terrain.In various embodiments, ratio of travel, spring forces, and dampeningforces may be varied in real time and in response to instantaneousriding conditions.

The control of the suspensions may be dynamic and adaptive to theterrain and other riding conditions. The control may shift betweenoperating the front and the rear suspensions as a single unit orindependently in real time. This control may be active or passive. Thiscontrol may be enabled by at least mechanical linkages, hydraulics,pneumatics, electronics, and other means for regulating the travel bothabove and below the vehicle.

In some embodiments, a signal may be generated that measures a shift inthe CG or CM of a vehicle rider and/or a vehicle payload being ferriedby the vehicle. For a bicycle, such a signal may be based on the rider'scontact with the saddle, handlebars, foot pegs or pedals, or any otherstructure that the rider contacts the vehicle. The generated signal maybe used to adapt, in real time, one or more vehicle components toinfluence the rider's comfort and safety. Such affected vehiclecomponents may be adjusted and included in and of the front orrear-above, middle, and below suspensions. The systems may also includeany of vehicle geometry adjusting devices, braking elements, drivetrain, instantaneous power output devices, and such.

Although the various embodiments are not limited to the application of abicycle, many of the embodiments discussed herein are directed towards abicycle as the vehicle. The use of a bicycle is for illustrativepurposes only, and it understood that the invention is not limited to abicycle, but may be practiced with practically any vehicle that engagesthe ground, including but not limited to motorcycles, scooters, electricbicycles, and such.

It should be noted that any vehicle suspension sub-system may becombined with other vehicle suspension subsystems to form the overallsuspension system. For instance, any embodiment or type of a rear middlesuspension may be combined with any type of rear-above and/or belowsuspension to form a rear suspension. Both U.S. patent application Ser.No. 13/940754, entitled BICYCLE REAR SUSPENSION, filed on Mar. 15, 2013and PCT/US application Ser. No. 14/26847, entitled BICYCLE REARSUSPENSION, filed on Mar. 13, 2014, disclose various embodiments of rearmiddle suspension systems and/or subsystems for vehicles. The contentsof both U.S. patent application Ser. No. 13/940754 and PCT/USapplication Ser. No. 14/26847 are hereby incorporated by reference. Anyof the rear middle suspension systems disclosed in these incorporatedreferences may be combined with any of suspension system disclosedherein. Likewise, U.S. Provisional Patent Application Ser. No. 61/947328discloses various embodiments of a front-middle and front-abovesuspensions, of which any are combinable with the various embodimentsdisclosed herein. Furthermore, U.S. Pat. No. 7,350,787, entitledVEHICLES AND METHODS USING CENTER OF GRAVITY AND MASS SHIFT CONTROLSYSTEM, issued on Apr. 1, 2008 discusses various advantages of vehiclesthat include multiple coupled and actively terrain-tracking systems, thecontents of which are hereby incorporated by reference.

FIG. 1 illustrates various embodiments of a rear middle suspension 130for a two-wheeled vehicle illustrated as a bicycle 100 that includes aslide link 132 or sliding collar. As shown, the rear portion of bicycle100 includes a saddle 102 and a rear wheel 192, which is coupled to arear swingarm 122. Force arrow 154 represents a typical terrain loadapplied to bicycle 100 as rear wheel 192 rolls over uneven ornon-uniform terrain. As such, force arrow 154 represents a bottom-upvehicle load.

The saddle 102 is a rear-above or upper point of contact between thevehicle and the rider and supports at least a portion of the rider'smass. The force arrow 152 shows a typical downward force or load on thevehicle provided by the rider. Although shown the saddle 102 in FIG. 1is shown as a bicycle saddle, the term saddle, as used herein, includesany vehicle structure or member that provides a point of contact betweenthe rider and the vehicle in the rear upper portion of the vehicle andis configured and arranged to support at least a portion of the rider'smass. The frame of bicycle 100 includes a seat tube 104, which at leastpartially supports the saddle 102.

Bicycle 100 also includes pedals 114 and cranks 116, which are coupledto the bicycle 100 via bottom bracket 112. The pedals 114 provide a rearlower or below point of contact between the vehicle and the rider andsupport at least a portion of the rider's mass. The cranks 116 transmitpower supplied by the rider to bicycle's 100 drivetrain 160. The forcearrow 156 shows a typical downward force or load on the vehicle, via thebottom bracket 112, provided by the rider. Force arrow 156 representsforces due to supporting the rider and also due to the load generated bythe rider pedaling the bicycle 100. As such, force arrows 152 and 156represent top-down forces on bicycle 100.

When a rider pedals a bicycle, the rider provides and/or generates aload on the frame via the drivetrain 160. These drive loads are alsotop-down forces and are shown in FIG. 1. In various embodiments, adrivetrain 160 includes at least one of a chain 162, front chain ring166, rear cassette 164, rear derailleur/pulleys 168, front derailleur(not shown), cranks 116, pedals 114, and the like. Other exemplarydrivetrains may include motorized or externally powered components.

Bicycle 100 includes an embodiment of a rear middle suspension 130,which is shown in an exploded view 170 in the right-upper hand ofFIG. 1. The rear middle suspension 130 of FIG. 1 is a slide linksuspension and includes a slide link 132, or sliding collar, that slidesor translates along seat tube 104. The slide link 132 includes anaperture to receive seat tube 104 and a bushing 138 is positionedbetween slide link 132 and seat tube 104. A biasing member 136 isincluded to provide at least one of a spring or a damper means. Thebiasing member 136 may be an elastomeric element, such as a coil spring,an air/pneumatic spring, and any other such elastomeric element. Therear swingarm 122 is pivotally coupled to the collar or slide link 132.A control link 134 is pivotally coupled to each of the frame of bicycle100 and the rear swingarm 122. The control link guides the rear swingarm122 throughout the travel. Washer member 153 and inner tube member 155enable the construction of the rear middle suspension.

Rear middle suspension 130 provides a relative travel between rear wheel192 and the frame of bicycle 100 in response vehicle loads, includingbut not limited to the loads represented by at least one of force arrows152, 154, 156, and the drive loads. The kinematics and advantages ofsuch a middle suspension are discussed further below.

It should be noted that the angle of the tube, with respect to thevertical, that the slide link 132 translates along is not constrained asshown in FIG. 1. Rather, the angle of the seat tube 104 may vary, or theslide link 132 may translate along another frame member oriented at adifferent angle. Furthermore, as discussed below, the angle of the tubemay vary in real time in response to riding conditions. View 190demonstrates have how the squat characteristics of bicycle 100 vary withthe angle of the member along which slide link 132 translates. Forinstance, bicycle 100 may include pro-squat or anti-squatcharacteristics, depending upon the sliding angle of the slide link 132.

View 180 introduces a rear-under suspension coupled with the rear middlesuspension 130. In the embodiment shown in view 180, bottom bracket 142is enabled to travel with respect to the frame of bicycle 100, such thatthe point of contact between the bicycle 100 and the rider in the rearbelow portion of the vehicle is suspended. Bottom bracket 142 isintegrated with a cantilever link 144. The cantilever link 144 play asimilar role to control link 134, in that cantilever link 144 ispivotally coupled to both the frame of bicycle 100 and the sliding linkor slide link 132. Thus, cantilever link 144 provides a coupling betweenthe rear middle suspension 130 and the rear below suspension. Travel inthe rear middle suspension 130 generates a feedback signal, via thecantilever link 144, that generates corresponding travel in the rearbelow suspension of bottom bracket 142, and vice versa. It should benoted that the geometry of cantilever link 144 is variable to generatetravel ratios and coupling strength of various values. The combinationof rear middle suspensions with below (and rear-above suspensions) isdiscussed throughout, such as the discussion in regards to FIG. 2.

FIG. 2 shows the kinematic behavior of a slide-link type rear-middlesuspension coupled to a rear-under or below suspension via cantileverlink 244. A bicycle 200 includes frame 250, which includes seat tube204. The slide link 232 translates along seat tube 204. Rather thanemploying an elastomeric element along the seat tube 204, the embodimentof the rear suspension on the bicycle 200 employs a shock assembly 236coupled between the rear swingarm 222 and the frame of bicycle 200. Thetravel of the rear swingarm 222, rear wheel 292, bottom bracket 242,cantilever link 244, slide link 232, relative to the frame 250 is shownby the hashed outlines. For instance, the position and/or orientation ofthe rear wheel 292 and rear swingarm 222, relative to the frame, duringa full compression of the rear suspension system is shown by hashedoutlines 298 and 282 respectively.

As shown, the combination of the top-down forces and the bottom upforces induce a generally upward travel of rear wheel 292, articulatedby the clockwise rotation of rear swingarm 222 and the upwardtranslation of slide link 232. Furthermore, the bottom bracket 242travels generally downward, relative to the frame, as shown by hashedoutlines indicated suspension compression. The relative travel ratiobetween the rear middle and the rear-under suspensions is controlled bythe geometry of coupling the cantilever link 244.

FIG. 3 shows a bicycle 300 that includes a combination of a rear-middleand a rear-above suspension. The frame of bicycle 300 includes top tube306 and down tube 308. Top tube 306 is a flexible member such that theangle between the top tube 306 and down tube 308 at bicycle's 300 stem(not shown in FIG. 3) varies in response to a vehicle load, such as thetop-down load on the saddle. The top tube 306 is flexible enabling arelative travel between the saddle and the frame. The travel of thesaddle, top tube 306 and seat tube 304 is indicated by the hashed lines.

The rear-above suspension is coupled to the rear middle suspensionthrough the coupling link 344, which is pivotally attached to the frame,the seat tube 304, and the rear swingarm 322. The rear suspension isalso includes a slide link. However, in comparison to FIGS. 1 and 2, theslide link configuration of the embodiment shown in FIG. 3 includes apivoting member 338 (stanchion-type pivoting member) that is pivotallycoupled to the frame of bicycle 300.

The pivoting member 338 (stanchion) mates with a corresponding aperture,cylinder, groove, or some other similar structure to the slide link 332included with the rear swingarm 322, such that pivoting member 338(stanchion) and similar structure to the slide link 332 form piston andcylinder type slide link. Note that in this embodiment, during travel ofthe rear wheel, the angle of pivoting member 338 (stanchion) varies withrespect to the frame, but is held constant with respect to the rearswingarm 322.

The slide link 332 pivoting member 338 assembly maybe a cylinder andpiston sliding link assembly. In other embodiments, the pivoting member338 is a trunnion or a pivoting stanchion. The geometry of coupling link344 determines the coupling characteristics between the rear upper andrear middle suspensions. Note that in the embodiment shown in FIG. 3,the seat tube 304 is forward of the slide link 332.

FIG. 4 illustrates a bicycle 400 that includes another combination of arear-middle and a rear-above suspension. Specifically, FIG. 4 shows arelationship between a rear over, middle, and above suspension forbicycle 400. Bicycle frame 450, rear swingarm 422, coupling link 434,and rear stay member 424 form a four bar linkage, where the rear staymember 424 is essentially the floating member of the four bar linkage.The hashed horizontal line 452 indicates the vertical height of the rearaxle 454. The coupling link 434 couples the rear-above suspension to themiddle suspension. Note in the embodiment that the floating member orlink (rear stay member 424) is below the connecting link (rear swingarm422).

FIG. 5 provides various embodiments of rear suspension systems for abicycle. In each embodiment shown in FIG. 5, the rear middle suspensionincludes a slide or sliding linkage that includes a stanchion that ispivotally coupled to the frame and at a fixed angle relative to theswingarm. The mating cylinder or barrel in included in the rearswingarm. In each embodiment, the slide linkage couples the rearswingarm to the frame. Furthermore, when the travel is not compressed,the stanchion is at an angle that is almost horizontal with respect tothe riding surface.

View 510 shows the kinematics of a rear middle suspension, where acontrol link pivotally couples the frame to the rear swingarm. Thecontrol link is pivotally coupled to a forward portion of the swingarm.Thus, the control link may be a forward control link.

View 520 shows the kinematics of a rear middle suspension, where thecontrol link is pivotally coupled to the swingarm at a more rearwardportion of the swingarm, such that the control link crosses over thestanchion. Thus, the control link (that also may couple above or undersuspensions to the middle suspension) is a crossover link.

View 530 shows an embodiment of a rear middle suspension coupled to arear-above suspension. The control link of the rear middle suspensionalso serves to couple the middle suspension to the above suspension.Furthermore, the control link is a forward control link. View 540 showsan embodiment similar to the embodiment of view 530, except that a belowsuspension (cantilevered bottom bracket) has been integrated andcoupled, via the near vertical link, to the middle and above rearsuspensions.

View 550 shows an embodiment where a crossover control link is used inthe middle suspension and to couple the middle to the above suspensions.The longer lever arm associated with the cross over link provides adifferent travel ration between the above and the middle suspensionsthan the shorter lever arm associated with the forward link of view 530.View 560 shows a below suspension incorporated into a middle and abovesuspension that includes a crossover link.

FIG. 6 provides various embodiments of a rear suspension that employs asliding linkage and an eccentric link as the guide link. Similar toother embodiments, when a rear-above suspension is included, theeccentric link couples the middle and the above suspensions. Bicycle 600includes a rear stanchion-style slide link 612 middle suspension and arear-above suspension enabled with a flexible top tube 606. Thekinematics of the travel is shown by the hashed outlines. An eccentriclink 614 couples the above and middle suspensions. Furthermore, theeccentric link 614 pivotally couples the rear swingarm to the frame.

View 610 shows an embodiment that includes only a middle rear suspensionwhere an eccentric link couples the rear swingarm to the frame. View 620shows another embodiment that employs an eccentric link to couple theswingarm to the frame. Note the different pivotal mounting and geometryof the mounting flange of the rear swingarms in views 610 and 620. View610 shows a longer mounting flange, while view 620 shows a shortermounting flange. The differing mounting flanges give rise to variouseccentric orbits associated with the travel. Accordingly, the desiredtravel to the rear wheel may be tuned via choice of eccentric links andmounting flanges on the rear swingarm. View 630 shows a middle- andabove-rear suspension with an eccentric link and mounting flange similarto the one shown in view 610.

FIG. 7 illustrates various embodiments of a rear suspension that employtwo eccentric links. Bicycle 700 includes a rear middle suspensions anda rear-above suspension coupled by a first eccentric link 744. Note thatthe above rear-above suspension is at least partially enabled by aflexible top tube member 706. The rear swingarm 722 is coupled to theframe of bicycle 700 via a second eccentric link 732. The relaxed andcompressed states of the coupled rear-middle and above suspension of thebicycle 700 are shown.

View 750 shows another embodiment of a rear suspension that includesonly a middle suspension. The rear swingarm is coupled to the frame viatwo eccentric links 752 and 754 to form a sliding four-barconfiguration.

FIG. 8 illustrates various embodiments of a rear suspension that employsa cross over link to couple the above suspension with the middlesuspension. The rear middle suspension of bicycle 800 includes astanchion 832 or piston that is pivotally attached to the frame ofbicycle 800. The stanchion 832 slides within or along a mating cylinderincluded in the rear swingarm. Thus, stanchion 832 and cylinder form aslide link that pivotally couples the rear swingarm to the frame.

The rear swingarm is further pivotally coupled to the frame viacrossover link 844. Note that crossover link 844 passes over or pass thestanchion 832 when coupled to the rear swingarm. Crossover link 844 alsocouples the rear middle suspension to the rear-above suspension ofbicycle 800. In at least one embodiment, a leaf spring 846 is employedas crossover link 844. Leaf spring 846 at least partially isolates thetravel of the middle suspension from the travel of the above suspension.In other embodiments, other isolating means may be employed to isolatethe travel between two or more suspensions.

View 850 shows a rear suspension that includes only a middle rearsuspension. A crossover link 852 crosses over the stanchion 854 that ispivotally coupled to the frame and slides within the mating cylinder inthe rear swingarm.

FIGS. 9A-9B show a variety of rear middle suspensions that arecombinable with rear-above and below suspensions. Bicycle 910 includes arear-above suspension that is at least partially enabled by a flexibletop tube member. The rear middle suspension is essentially a four barlinkage where the rear triangle is the floating member of the four barlinkage. The upper link that pivotally couples the rear triangle to theframe also couples the middle and above suspension. The four bar linkageincludes a virtual pivot point (VPP).

Bicycle 920 includes another four bar linkage for the middle suspensionthat is coupled to the above suspension. Note that the rear axle ispositioned higher than the pivot connecting to floating link to thelower link. Bicycle 930 is similar to bicycle 910; however, bicycle 930additionally includes a bottom bracket that is cantilevered to the reartriangle that is also coupled to the above suspension. Accordingly,bicycle 930 includes coupled rear middle, above (or over) and belowsuspensions.

Bicycle 940 also includes a four bar linkage that is linked to the abovesuspension. Note that the two connecting links between the rear triangle(floating link) and the frame are relatively short links and that theupper connecting links couples the middle and above suspensions. Bicycle950 includes a rear triangle that is pivotally connected to a collarthat slides along a pair of vertical columns and is also pivotallylinked to the frame. The middle suspension is coupled to the abovesuspension. On the four bar linkage of bicycle 960, the pivot thatconnects floating link to the lower link is coaxial with the axle of therear wheel.

The rear middle suspension of bicycle 970 includes a single pivot at theframe. The rear swingarm is also pivotally coupled to the traveling seattube to link the middle and above suspensions. Bicycle 980 includes aflexible rear structure that pivotally couples the rear wheel to theframe. The rear structure is flexible such that the angle between thechain stay member and the rear swingarm is variable. Accordingly, theflexible rear structure enables further suspension of the rear wheel.The flexible rear structure is coupled to the above suspension.

FIG. 10 illustrates the path of the instant center of rotation (IC), aswell as the anti-squat and anti-rise behavior of several embodiments ofa rear middle suspension. Embodiment one 1010 includes a slide link anda forward control link. The slide link includes a stanchion that ispivotally coupled to the frame and the angle of the mating cylinder onthe swingarm is approximately 45°. The IC path (between the compression(comp) and extension (ext) of the travel) is a relatively vertical pathand forward of the control link.

Note a property inherent to embodiment one, as well as many otherembodiments disclosed herein. As the middle suspension compresses, theangle between the pivoting stanchion and the control link becomes moreacute. Accordingly, this travel provides a progressive response betweenthe stanchion and guide link. Using other configurations, a digressiveresponse can be tuned. Thus, a progressive or digressive travel, alongwith progressive/digressive parameters such as spring rate, rebound, etcare achieved via linkage configurations. This may alleviate the need forother progressive/digressive elements, such as progressive/digressiveshock assemblies.

Embodiment two 1020 includes a slide link that slides along the frame'sseat tube. The IC path is relatively vertical and located approximatelyat the forward end of the control link. Embodiment three 1030 includes aslide link that slides along or within a mating member on the swingarm,where the mating member is much more horizontal to than that ofembodiment one. Note that the IC path is a much more horizontal paththan that of embodiments one and two. The curves on the below portion ofFIG. 10 show the anti-squat 1040 and anti-rise 1050 behavior of thethree embodiments as a function of percentage of rear wheel travel.

FIG. 11A shows a biasing member 1106 and an energy-dissipating member1108 employed to partially isolate a travel associated with a rearmiddle suspension from a travel associated with a rear-above suspension.The frame of bicycle 1100 includes a telescoping seat tube 1104. In apreferred embodiment, at least one of the biasing member 1106 or theenergy-dissipating member 1108 may be positioned within the telescopingseat tube 1104. In other embodiments, at least one of the biasing member1106 or energy-dissipating member 1108 may be positioned external to thetelescoping seat tube 1104.

Biasing member 1106 may include a spring or other elastomeric membersuch as a microcellular urethane spring (MCU), an air spring, or thelike. The energy-dissipating member 1108 may be a damper, such as an oildamper. The biasing member 1106 and energy-dissipating member 1108 maybe integrated into a shock assembly. At least one of the biasing member1106 or the energy-dissipating member 1108 enables a rider to tune orotherwise adjust a decoupling strength or other characteristic betweenthe above and middle rear suspensions.

FIG. 11B illustrates an automated saddle adjusting system 1150 incombinations with a rear-middle and above suspension. As shown in FIG.11B, in preferred embodiments, at least a portion of the components ofthe automated saddle adjusting system 1150 are positioned internally tothe seat tube. The system may be employed to actively adjust a saddleheight during a ride. The automated saddle adjusting system 1150includes top tube clamp, a motor, and a battery to power the automatedsaddle adjusting system 1150. In other embodiments, the system mayinclude hydraulics and/or pneumatics. The automated saddle adjustingsystem 1150 may also include at least one of a controller or a sensor,such as a pressure and/or position sensor. The sensor, or any othersensor discussed herein may actively monitor the position or a shift inposition of the CM of a vehicle payload, including the rider. The sensormay monitor a current height of the saddle. The controller may be aprocessor device, such as a microcontroller. The automated saddleadjusting 1150 manually translates the saddle or seat up and down. Thesystem may include multiple presets specific to a rider. The rider maymanually control the automated saddle adjusting 1150, or thesensor/controller combination may monitor real time riding conditionsand/or CM shifts to actively and in real time adjust the saddle height.

As with the rear of the vehicle, the front on the vehicle may besuspended above, below, and in the middle of the vehicle. A front-middlesuspension enables a travel of or within the head tube, relative to therest of the frame. Because the head tube is situated approximately inthe middle of the vehicle, such a movement may be loosely classified asa middle travel or middle suspension. When the travel elements arecoupled to the fork, the middle travel may result in a translation ofthe front wheel along an arm of a wheel mounting assembly, such as afork. The term fork as used herein includes both dual armed (or legged)forks, as well as single arm front wheel mounting assemblies.Front-above suspensions enable a relative travel between the frame and avehicle member that contacts the hands of a rider, such as handlebars.As shown below, front-below suspensions enable further additional travelof the fork, resulting in additional travel of the front wheel.

FIGS. 12 and 13 show a coupled front-middle, above, and below suspensionon vehicle such as a bicycle. For brevity, FIG. 12 will refer to this asfront suspension system 1200, and FIG. 13 as front suspension system1300. FIG. 12 shows a cross section of a front suspension system 1200.FIG. 13 provides an exploded perspective view of the front suspensionsystem 1200 of FIG. 12. Like number-series in FIGS. 12 and 13 indicatelike elements. For example, handlebar 1272 is equivalent to handlebar1372; stem assembly 1201 is equivalent to stem assembly 1301, and so on.

The inventor observed that bicycles are very efficient. Generally, about90% of rider's energy gets transferred to the ground. However, thisenergy is relatively small, typically under 5 watts/kg. When one or morewheels lose contact with the ground, or the wheels are under compressiveloads, there are losses that require additional energy to overcome them.These losses can include loss of control, braking ability, and speed.Over time, this loss of energy can become significant, because of therelatively small energy output of the rider. This loss of energy cancause rider fatigue and loss of performance. The wheel can typicallylose contact with the ground from uneven terrain, rocks, or bumps. Theinventor discovered that he could develop a suspension system, such asthe front suspension system 1200, 1300 of FIGS. 12 and 13 that allowedthe wheel to trace the ground. This would help reduce the loss of energycaused by preventing the wheel from lifting off the ground. This isquite different then the design focus of most bicycle and vehiclesuspension systems that attempt to isolate the rider from the shock ofuneven terrain. While this observation was made for bicycles, theprinciple can apply to other similar vehicles such as motorcycles andthe like.

Referring to FIGS. 12 and 13, the front suspension system 1200, 1300includes a stem assembly 1201, 1301 a head tube assembly 1260, 1360, anda front wheel mounting assembly 1222, 1322. The head tube assembly 1260,1360 includes a head tube 1261, 1361 and a slide link assembly 1232(FIG. 12) inside the head tube 1261, 1361. The slide link assembly 1232includes a fork steer tube 1240, 1340 slidably coupled within a headsteer tube 1249, 1349. Note that the terms steer tube, and “steerertube,” used in the art, are equivalent for the purpose of thisdisclosure. The fork steer tube 1240, 1340 and the head steer tube 1249,1349 are concentric and coupled for translational movement along theinside of the head tube 1261, 1361. The head tube 1261 being theoutermost tube and the fork steer tube 1240 being the inner most tube.The fork steer tube 1240, 1340 couples with the forks 1239, 1339 causingthe front wheel to translate along the head tube centerline 1241 of FIG.12. The arrowed lines 1264 in FIG. 12 represent the slidingtranslational movement between the fork steer tube 1240, 1340 and headsteer tube 1249, 1349. A head steer tube clamp 1269, 1369 and a forksteer tube clamp 1268, 1368 couples the fork steer tube 1240, 1340 andthe head steer tube 1249, 1349 to the stem 1271, 1371 and couples theplane of rotation between the forks 1239, 1339 and handlebar 1272, 1372.

The head steer tube 1249, 1349 is clamped with a head steer tube clamp1369 and coupled movably with fork steer tube 1240, 1340 by fork steertube clamp 1268, 1368. Motion is restricted such that the front wheelmounting assembly 1222, 1322 and the fork steer tube 1240, 1340 remainaligned in an axial plane to one another.

The front suspension system 1200, 1300 is a sliding four-bar system. Thefront suspension system keeps handlebar 1272, 1372 level as the frontsuspension system 1200, 1300 moves through its travel. The frontsuspension system 1200, 1300 constrains the rotation of the handlebar1272, 1372 and mating components of the stem 1271, 1371, head steer tubeclamp 1269, 1369, and primary axle 1210, 1310 to the fork steer tubeclamp 1268, 1368, bearing, and secondary axle 1280, 1380. The head tube1261, 1361 is constrained to rotate about one plane of rotation aboutthe upper head tube bearing 1262, 1362 and lower head tube bearing 1263,1363. Referring to FIG. 13, the mating components of the handlebar 1372with the stem 1371 include seals 1381 and bearings 1382. The matingcomponents of the primary axle 1310 include bearings 1383 and seals1384. The mating components of the secondary axle 1380 include bearings1385 and seals 1386.

In FIGS. 12 and 13, the fork steer tube 1240, 1340 moves generally alongthe head tube centerline 1241. While the fork steer tube 1240, 1340 inFIGS. 12 and 13 are internally concentric to the head steer tube 1249,1349, it is also possible to configure the fork steer tube 1240, 1340external to the head steer tube 1249, 1349 as long as they translatealong a general axis such as the head tube centerline 1241 (FIG. 12).FIG. 16 shows an example of these elements externally andnon-concentrically arranged.

Referring again to FIGS. 12 and 13, stem 1271, 1371 is configured andarranged to move about a first axis 1270 (FIG. 12). The first axis 1270,1370 may be a horizontal rotational axis about the stem 1271, 1371 asillustrated, but is not limited to being horizontal or rotational. Thefirst axis 1270 is indicated by a broken lined circle (FIG. 12). Theexact location of the first axis 1270 will vary from embodiment toembodiment and will depend on details of the various componentsemployed.

The handlebars 1272, 1372 are configured and arranged to rotate about asecond axis 1250, 1350. The second axis 1250, 1350 may be a horizontalrotation access about the handlebar, but is not limited to horizontalaxis. The second axis 1250 is indicated by the dashed line disk (FIG.12) positioned where the handlebars 1272, 1372 are coupled to the stem1271, 1371.

Rotations about the first axis 1270, 1370 and the second axis 1250, 1350may be coupled by a mechanical linkage or other means of flexing. Forexample, in some embodiments, the other means of flexing may include acylinder and piston and some type of sliding device. In FIG. 12, themechanical linkage includes a guide link assembly 1234, 1334. The guidelink assembly 1234, 1334 is length adjustable and may rotatable and/orflexible pivot to accommodate the variance in angles between a pointfixed relative to the fork steer tube 1240, 1340 and a point fixedrelative to the handlebars 1272, 1372. One end of the guide linkassembly 1234, 1334 is coupled to a guide link support 1273, 1273 thatis at a fixed angle relative to the handlebars 1272, 1372 and/or upperfront assembly of the handlebar 1272, 1372. As best seen in FIG. 13, theend of the guide link assembly 1334 is coupled with the head steer tubeclamp 1369 on control link mounting hole 1330. Threaded fasteners 1338secure the guide link 1335 of the guide link assembly 1334 to the guidelink support 1373 and the control link mounting hole 1330. Referringback to FIGS. 12 and 13, in general, the guide link assembly 1234, 1334,can be coupled to at least a fixed point relative to a portion of thehead steer tube 1249, 1349 and the fork steer tube 1240, 1340.

By coupling the two elements associated with the first axis 1270, 1370and the second axis 1250, 1350 together, the handlebars 1272, 1372 areconfigured and arranged for constrained translational and rotationalmotion within a front wheel plane. In some embodiments, the length ofthe guide link assembly 1234, 1334 can be held constant. For theseembodiments, the angle between the fixed point relative to the forksteer tube 1240, 1340 and the fixed point relative to the handlebars mayvary, however the distance between the two points remains constant andis constrained by the length of the guide link assembly 1234, 1334.

In FIGS. 12 and 13, the primary axle 1210, 1310 through the stem 1271,1371 is coupled to the fork steer tube 1240, 1340 and the head steertube 1249, 1349. The primary axle 1210, 1310 or primary link, can beco-aligned with the first axis 1270, 1370 with the stem 1271, 1371rotatable about the primary axle 1210, 1310. The primary axle 1210, 1310may be located through the stem 1271, 1371 and head steer tube clamp1269, 1369. In FIG. 13, the primary axle 1310 is shown passing throughthe stem 1371 and head steer tube clamp 1369 with the guide linkassembly 1334 also coupled to the head steer tube clamp 1369.

FIG. 12 show the rear or secondary axle 1280 that passing though thestem 1271 and behind the head tube centerline 1241. In FIGS. 12 and 13,the secondary axle 1280, 1380 is coupled to the head steer tube 1249,1349 and the fork steer tube 1240, 1340. The head steer tube 1249, 1349and the fork steer tube 1240, 1340, in combination, translate motionalong the head tube 1261, 1361 in response to movement of the stem 1271,1371. In some embodiments, this coupling may be enabled by an upperportion of the fork 1239, 1339. Such coupling enables a translationalmotion relative to the head tube 1261, 1361 as shown by the arrowedlines 1264 in FIG. 12 and in response to activation of the uppersuspension. In some embodiments, the coupling between the secondary axle1280, 1380 and the fork steer tube 1240, 1340 may enable translationalmotion of the fork steer tube 1240, 1340 within or from outside the headtube 1261, 1361.

Inflection load on the handlebar 1272, 1372 may provide feedback to thesuspension coupling the fork steer tube 1240, 1340. For instance, thefork 1239, 1339 may be responsive to such translational motion withinthe head tube 1261, 1361. Feedback between the upper and middlesuspensions may be enabled by the translational motion to the fork steertube 1240, 1340 and head steer tube 1249, 1249 in combination.

The translational movement of the fork 1239 may be constrained by anopposing spring or biasing force and an energy-dissipating force, suchas a dampening force. The opposing spring force and dampening force maybe enabled by a spring or dampener such as dampener 1236, 1336 of FIGS.12 and 13. The dampener 1336 is positioned to support the head tube 1361under load. The dampener 1236, 1336 depicted is a microcellular urethanespring, also known in the art as an MCU. The dampener 1236, 1336 canalso be a spring/dampener or other elastomeric element, or even a gas oran oil-damping element. The front suspension system 1200, 1300 canemploy two or more springs or dampeners, located throughout the frontsuspension system 1200, 1300. The biasing force and theenergy-dissipating force may or may not be integrated into a singleassembly, such as a shock assembly.

The dampener 1236, 1336 is shown positioned within the head tube 1261,1361 so that is not visible when assembled. Positioning the dampener1236, 1336 inside the head tube 1261, 1361 has several advantages. Thefront suspension system 1200, 1300 can be adapted for use in currentlymanufactured bicycle frames. Most of the suspension components arehidden, so they appear integrated with the rest of the bicycle. This isespecially desirable for road bicycles.

The translational movement of the fork 1239, 1339 may result intranslational movement of fork steer tube 1240, 1340 with respect tohead tube 1261, 1361 along the head tube centerline 1241, 1341. Theupper suspension may be responsive or otherwise coupled, to translationof the fork steer tube 1240, 1340 with respect to head tube 1261, 1361.For instance, travel within the head tube 1261, 1361 and/or the fork1239, 1339 may provide feedback to the upper suspension.

In FIG. 13, a plurality of fasteners is used to couple the stem assembly1301 to the head tube assembly and the rest of the front suspensionsystem 1300. A plurality of steerer tube fasteners 1337 coupled theconcentric steer tube configuration to both the upper traveling andbelow traveling members. In addition,

FIG. 14A shows a front and side profile of a front-middle, above, andbelow suspension system where spring and damper elements 1410 have beenintegrated into the head tube. The horizontal rotation, induced by a topdown or a bottom up vehicle load, of the handlebars is shown. The travelof the front wheel axle associated with the middle and above suspensionsis also shown. FIG. 14B shows another embodiment of a front-middle,below, and above suspension. The embodiment shown in FIG. 14B includes atelescoping fork 1420 to enable a greater range of travel associatedwith the middle and below suspensions. Accordingly, some embodiments mayinclude travel internal to the head tube and/or additional travelexternal to the head tube via the telescoping fork.

FIG. 14C shows yet another embodiment of a front-middle, above, andbelow suspension. The telescoping fork 1420 shown in FIG. 14C includesanother articulation of the front wheel that is enable by a telescopingfork 1420, as well as the linkages 1430, 1440 which introduce a fore andaft travel of the front wheel. A shock assembly 1460 had been integratedinto at least one of the legs of the telescoping fork. Additional asystem 1450 that includes at least one of a controller or a sensoractively adjusts and/control the front suspension system in response toreal time ridging conditions.

FIG. 15A shows the kinematic behavior of the path of an IC of rotationfor a front-middle, above, and below suspension. The above and lowerlinks couple the rotating handlebars to the middle traveling components(internal to the head tube), as well as the translating forks. Note thatthe near horizontal path of the IC in this embodiment.

FIG. 15B shows an embodiment of a front-middle, above, and belowsuspension in both a compressed and an uncompressed state. The solidfigure shows the front suspension system in an extended state. Thehashed figure is in the compressed state. Note the differences in thestem angle, handlebar angle and position, as well as the position of thefront wheel. FIG. 15B also demonstrates some of the advantageous ofhaving a middle, an upper, and lower suspension that are coupled viafeedback or a generated signal.

One effect associated with the multiple suspensions is that a portion ofthe energy that the rider inputs to the bicycle, such as power from therider's pedal strokes, is lost due to travel in the lower suspension.This leads to inefficiencies as some of the rider's pedaling power islost. This is especially true when a rider is climbing, and some of theenergy of the pedal stroke is transferred into the translating fork.Thus, some suspension systems incorporate a “lockout” mode where therider can switch between a more rigid mode of the suspension and a lessrigid mode of the suspension, depending on the terrain and type ofriding.

With various embodiments of the front suspension system, a natural“lockout” mode is inherent due to the feedback between the upper,middle, and lower suspensions. For instance, when a rider is climbing,the rider will naturally pull back of the handlebars to increase theirleverage. As shown in FIG. 15A, a force pulling back on the handlebarswill rotate the handlebars counterclockwise, translating the fork in agenerally downwards direction. Thus pulling back on the fork creates alockout effect because the upper suspension is coupled to the lowersuspension. When the rider pulls back on the handlebars, a spring ratemay increase stiffening the lower suspension. As shown by the opposinggray-scaled arrows, the harder the rider pulls back on the handlebars,the greater the lockout effect is.

The opposing solid arrows demonstrate more advantages of coupling theupper and lower suspensions. For similar reasons, when a rider pushesdown on the handlebars, a signal is generated and the lower suspensionbecomes more responsive. For instance, when a rider's CG shifts, such aswhen the rider applies the front brake, more of the rider's weightshifts onto the handlebars. The clockwise horizontal rotation of thestem and/or handlebars may lessen a spring constant, resulting in a moreresponsive lower suspension. The more downward force a rider inputs intothe handlebars, the less force that is required to compress the fork.The downward arrow on the vehicle structure shows the effect of avehicle load of the front-middle vehicle structure.

FIG. 15C in combination with 15B show various methods providing acontrolling means for the front-middle, upper, and lower suspensions.Note that any of these means may be applied to the rear suspensions aswell. Box 1510 shows using a controller, such as a microcontroller, andmultiple hydraulic chambers to regulate a travel, or compression, ratiobetween the upper and lower suspensions. In this particular embodiment,the upper suspension includes a single hydraulic chamber and the lowersuspension includes two hydraulic chambers. The volumes and/or crosssectional area of each cylinder may be different, but need not be. Thecontroller may adjust each cylinder during operation of the frontsuspension system. In this embodiment, each cylinder may provide asignal to the controller directly, and the controller can process thesignal, and in response, send signals to the other chambers. Suchadjustments may include opening or closing the cylinder. For instance, acylinder may move fluid into either one or two cylinders based on thecorresponding travel and suspension needs.

Box 1520 demonstrates that the upper and lower suspensions may providedirect feedback, or control signals, to the other cylinder without theintervention of a controller. Box 1530 shows a controller configurationemploying a hydro-pneumatic suspension. In such a configuration, thespring force may be varied. Box 1540 shows yet another configuration tocontrol the dynamics of the suspensions.

FIG. 16 illustrates a bicycle that includes a rear middle, above, andbelow suspension as well as a front above, middle, and below suspensionand an aerobar 1610. A close-up of the rear below and middle suspensionis shown in box 1635. The push-down and pull-up zones on the pedalingmotion are shown, as well as the resulting top-down loads on the bottombracket. Note these zones may vary per rider. For instance, a morenovice rider, or a bicycle where the rider's shoes are not coupled tothe pedals may not generate a pull-up zone, or generate a substantiallysmaller pull-up zone. The coupling of the rear-above, middle, and belowtravel adjusts the responsiveness of the suspension to account for thevarious loads on the bottom bracket due to rider variations and othersuch influences.

Furthermore, the vehicle loads on the front-middle portion of thevehicle, due to the rider's contact with the various portions of thefront structure of the bicycle 1600, are shown via arrows 1620, 1630,1640, and 1650. Arrow 1620 shows a typical load when the rider isengaging with the drop bars. Arrow 1630 shows the loads associated withrider engaging with the hoods of the handlebars. Likewise, arrow 1650shows the loads when the rider is in a standing position or uprightposition. Arrow 1640 shows the typical loads when the rider is using theaerobar. Note that the front suspension is responsive to the forcevectors and is actively adjusted and/or controlled based on thedirection and magnitude of the vehicle load on both the front and therear vehicle structures.

For instance, both the magnitude and direction of the front portionforce vector varies greatly from when the rider is in a standingposition, as compared to when the rider is resting a large portion oftheir mass on the aerobar 1610. The rider's CM/CG for three ridingpositions (aero, standing, and upright) are also shown. View 1660 showsthat an optional leaf spring may be used to at least partially isolatethe above, middle, and below travel.

FIG. 17 shows various embodiments of rear and front suspension systemsfor a bicycle. Bicycle 1700 includes a rear over, middle, and belowsuspension and a front over, middle, and below suspension. Varioussensors (pressure and/or position and other sensors), as well ascontroller units are employed to actively adjust vehicle operationalparameters, including, but not limited to suspension, frame geometry,braking, and drivetrain parameters. Although pressure and positionsensors are shown, it should be noted that any general type of sensormay be employed, depending upon the application.

The front suspension includes a telescoping fork that enables the belowtravel. The middle travel is shown within the head tube, as well as theabove travel via the rotating (and translating) handlebars. The sensorscan additionally sense parameters corresponding to damping elementsembedded in the head tube and/or telescoping fork legs. Theresponsiveness of each travel may be adjusted independent via acontroller based on sensor, or input data from at least one of the othersuspensions/travel, such as when one suspension acts as a tracersuspension For instance, the energy-dissipating/energy-storageparameters (rebound, spring rate, etc) may be actively adjusted in realtime. Furthermore, the various travel ratios, travel length, and framegeometry parameters (such as L1, L2, M, A, T, B, and the like) may beheld constant or adjusted depending upon the current riding and/orterrain conditions. The geometry parameters can be used to definevarious travel and geometry ratios

Views 1770, 1780, and 1790 show various embodiments of bicycle frames.View 1770 shows a frame with a flexible top tube member that providesthe saddle travel corresponding to the rear above suspension. In otherembodiments, the top tube member can be articulated as a pivoting membervia a pivot joint positioned near the head tube, such as pivot joints1782 and 1792 of views 1780 and 1790 respectively.

Referring to FIG. 17A, plot 1710 shows exemplary curves for a verticalforce v. axle displacement for the rear wheel with the rider in astanding and sitting position. Notice that the various embodimentsdetect the rider's CM/CG shift and adjust the suspensions responsivenessautomatically. The standing curve is different than the sitting curvebecause the vehicle's payload mass is shifted and because the top-downforces are different.

Referring back to FIG. 17, breakout boxes 1760 show variousrelationships between the lower rear suspension and the coupling betweenthe above and middle rear suspensions. The rightmost box of 1760 showsan eccentric link used to couple the above, middle, and rear. As usedthroughout, eccentric links may be employed as a switch. In this case,the eccentric may switch between anti-squat and pro-squat behavior. Thebreakout boxes 1760 further show how the travel ratio between theover/middle and the lower suspensions may be varied by varying the angleof the coupling link between the over/middle control link and thecantilevered bottom bracket. The eccentric of the rightmost box may actas a switch between two or more selected orientations of such a link tovary the travel ration.

Additionally, the breakout boxes 1750 shows various embodiments ofclutch assemblies that may be used to engage/disengage the suspensions,or the coupling between the suspensions. Notice that independentclutches may be used for each of the above, middle, and below travel. Inaddition, the clutches may be employed to vary the travel ratios in realtime. The clutches may be activated manually by the rider orautomatically by a clutch controller. Clutch assemblies, employed invarious combinations enable further real-time control of various vehicleparameters.

FIG. 18 illustrates various embodiments of a rear and front suspensionthat includes a plurality of controller and sensor devices. Bicycle 1800shows a front above, middle, and below suspension 1850 as well a rearmiddle and above suspension 1830 with the close-up view showing that theelastomer element is positioned underneath the sliding linkage, ratherthan on top as shown in FIG. 1. Positioning the elastomeric elementunderneath enables easy installation and maintenance of the elastomericelement. Also, a different elastomeric member, such as an MCU can easilybe installed in response to a rider. For instance, a stiffer MCU couldbe installed easily for a more massive rider. When a lighter rider takespossession of bicycle 1800, a less stiff MCU can easily be installed.Breakout box 1840 shows such a configuration for a middle suspensiononly. Note the crossover guide or control link.

A gear ratio sensor can be used to detect a current gear ratio andadjust the responsiveness of the suspensions, or other operationalparameters, based on the detected gear ratio. Breakout boxes 1860 showother configurations of sensors and controllers. For instance, the leftbreakout box of 1860 shows at least an upper and a lower sensorpositioned on a handle grip of the handlebars. The lower sensor maysense an upward pull on the handlebars and via the controller initiateat least a partial lockout signal for at least the front suspension.Likewise, the upper sensor may sense a downward force on the handlebars,such as when landing a jump to automatically adjust, in real time, amore responsive front and/or rear suspension. Thus a suspension may actas a tracer or an input suspension to adjust other suspension inresponse to varying terrain and riding conditions. The other breakoutboxes show other sensor/controller configurations.

FIG. 19 shows an electric bicycle 1900 that includes an embodiment of anactively controlled front and rear suspension system that is consistentwith the various embodiments disclosed herein. Note that the electricbicycle 1900 includes many of the elements or components discussedthroughout, includes a rear middle and upper suspension and afront-middle, above, and under suspension. Various controllers, sensors(positions and/or pressure), and controllers are also employed.

FIG. 20 shows a motorcycle 2000 that includes an embodiment of a frontand rear suspension system that is consistent with the variousembodiments disclosed herein. The force arrows show the various vehicleloads. The CM symbol 2012 represents the CM of the rider in an uprightposition, while CM symbol 2010 represents the CM of the rider is a moreprone position.

FIG. 21 shows a rear middle suspension 2112 that employs a slide link2132 that slides along a frame's down tube 2150, rather than the seattube 2104. A shock 2136 is coupled to the bicycle's frame. The bottombracket 2142 is also shown for reference. The slide link 2132 or collaris pivotally coupled to the rear swingarm 2122. A guide link 2144 alsopivotally couples the rear swingarm 2122 to the frame.

FIG. 22 shows a rear middle suspension 2200 that employs a first slidelink 2240 that slides along a frame's down tube 2250 and a second slidelink 2232 that slides along the seat tube 2204 of the frame. Anelastomer 2236 is positioned on the seat tube 2204. Each of the slidelinks 2232/2240 pivotally connects the rear swingarm 2222 to the frame.The two slide links 2232/2240 work together to further constrain thetravel of the rear wheel. The bottom bracket 2242 is shown forcomparison.

FIGS. 23A-B shown a folding bicycle 2300 that includes a rear middle andbelow suspension system as well as a front-middle, above, and belowsuspension that is consistent with the various embodiments disclosedherein. FIG. 23A shows bicycle in an unfolded or a riding state. Therear suspension includes a slide link 2231 that translates along theseat tube 2304 and a rear swingarm 2322.

The slide link 2332 is a splittable slide link that includes a clutchassembly 2336 that enables the slide link 2332 to be split into twohalves. The clutch engages and disengages the two halves of slide link2332.

FIG. 23B shows the folding bicycle 2300 in a folded state. The clutchassembly 2336 has disengaged the two halves of the slide link 2332 sothat the rear swingarm 2322 can rotate about the seat tube 2304.

In other embodiments, the folding bicycle 2300 could flip in theopposite orientation, i.e. the rear swingarm and the control link couldbe either on the same lateral side of the folding bicycle 2300 or onopposite sides. In preferred embodiments, a locking mechanism may beengaged on slide link 2332 to prevent an accidental folding duringoperation of the bike. The locking mechanism may automatic. Forinstance, if a rider's mass is detected, via a mechanical, hydraulic, orother detecting means, the lock may be engaged.

The following additional embodiments, labeled Embodiment 1-93, areimported from the claims of the parent application to this disclosure,International

Embodiment 1: A terrain-tracing system for a vehicle for traveling overterrain on a terrain-engaging member, the vehicle having a frame and theterrain-tracing system suspends the frame relative to the terrain, thesystem comprising: a terrain-engaging member mounting assembly having afirst end and a second end, the mounting assembly coupled to the framegenerally at the first end and coupled the terrain-engaging membergenerally at the second end; a slide link coupled to the frame and tothe mounting assembly, wherein the slide link is configured and arrangedto translate along a frame member of the frame; and a control linkcoupled to the frame and the terrain-engaging member mounting assembly.

Embodiment 2: The system of Embodiment 1, wherein the slide linkincludes an aperture that is configured and arranged to receive theframe member, such that when the slide link translates along the framemember, the slide link slides along the frame member that is received bythe slide link aperture.

Embodiment 3: The system of Embodiment 1, wherein an angle between theframe member and the frame is fixed such that when the slide linktranslates along the frame member, an angular orientation of the slidelink relative to the frame is fixed.

Embodiment 4. The system of Embodiment 1, wherein the frame member isrotationally coupled to the frame such that an angle between the framemember and the frame is variable and when the slide link translatesalong the frame member, an angular orientation of the slide linkrelative to the frame varies with the angle between the frame member andthe frame.

Embodiment 5. The system of Embodiment 1, wherein an angle between themounting assembly and the frame is variable and an angle between themounting assembly and the frame member is fixed such that when themounting assembly rotates relative to the frame, an angular orientationof the slide link relative to mounting assembly is fixed.

Embodiment 6. The system of Embodiment 5, wherein when the slide linktranslates along frame member, the angular orientation of the slide linkrelative to the mounting assembly is fixed and when the mountingassembly rotates relative to the frame, an angular orientation of theslide link relative to the frame varies with the between the mountingassembly and the frame.

Embodiment 7. The system of Embodiment 1, wherein the system is a frontsuspension, the terrain-engaging member is a front suspension, theterrain-engaging assembly is a fork, and the slide link and control linkenables a relative translation between the fork and the frame.

Embodiment 8. The system of Embodiment 7, wherein the vehicle includes ahandlebar and the slide link and the control link enables a relativerotation between the handlebar and the frame.

Embodiment 9. The system of Embodiment 8, wherein the system furtherincludes a coupling between the relative translation between the forkand the frame and the relative rotation between the handlebar and theframe.

Embodiment 10. The system of Embodiment 1, wherein the slide linkincludes an aperture and the frame member is a stanchion and ispivotally coupled to the frame, the slide link aperture receives thestanchion such that the slide link slides along the barrel.

Embodiment 11. The system of Embodiment 1, wherein the control linkincludes at least one of a gearbox, transmission, or a power source.

Embodiment 12. The system of Embodiment 1, wherein the frame includes aseat tube and a bottom bracket, wherein a forward end of the controllink is pivotally coupled to the mounting assembly and a rearward end ofthe control link is pivotally coupled to the frame forward of the bottombracket.

Embodiment 13. The system of Embodiment 12, wherein the frame memberincludes at least a portion of the seat tube.

Embodiment 14. The system of Embodiment 1, further including at leastone eccentric link that enables adjusting an angular orientation of theframe member relative to a vertical line.

Embodiment 15. The system of Embodiment 1, wherein at least oneeccentric link that enables adjusting an angular orientation of theframe member relative to a vertical line.

Embodiment 16. The system of Embodiment 1, wherein the slide link ispivotally coupled to the arm.

Embodiment 17. The system of Embodiment 1, wherein the terrainengaging-engaging member is a rear wheel and the mounting assembly formsa swingarm for the vehicle.

Embodiment 18. The system of Embodiment 17, wherein the swingarm, theslide link, and the control link form a middle rear terrain-tracingsub-system that provides a middle travel of the rear wheel relative tothe frame.

Embodiment 19. The system of Embodiment 18, wherein the vehicle furtherincludes a saddle that is coupled to the frame and supports at least afirst portion of a mass of a rider and the system further includes anabove rear terrain-tracing sub-system that provides an above travel ofthe saddle relative to the frame.

Embodiment 20. The system of Embodiment 19, wherein the middle and aboverear terrain-tracing subsystems are coupled such that a feedback signalis generated between the middle and above rear terrain-tracingsubsystems in response to at least one of the rear middle travel or therear-above travel.

Embodiment 21. The system of Embodiment 19, wherein the system furtherincludes a middle front terrain-tracing sub-system and an above frontterrain-tracing subsystem.

Embodiment 22. The system of Embodiment 21, wherein the middle and abovefront terrain-tracing subsystems are is coupled such that a frontfeedback signal is generated between the middle and above frontterrain-tracing subsystems in response to at least one of thefront-middle travel or the front-above travel.

Embodiment 23. The system of Embodiment 21, wherein at least one of themiddle or the above rear terrain-tracing subsystems is coupled to atleast one of the middle or the above front terrain-tracing subsystems.

Embodiment 24. The system of Embodiment 19, wherein the vehicle furtherincludes a foot member that is coupled to the frame and supports atleast a second portion of the mass of the rider and the system furtherincludes a below rear terrain-tracing sub-system that provides a belowtravel of the foot member relative to the frame.

Embodiment 25. The system of Embodiment 24, wherein the middle, above,and below rear terrain-tracing subsystems are coupled such that afeedback signal is generated between the middle, above terrain-tracingsubsystems in response to at least one of the middle travel or the abovetravel.

Embodiment 26. The system of Embodiment 18, wherein the vehicle furtherincludes a foot member that is coupled to the frame and supports atleast a second portion of the mass of the rider and the system furtherincludes a below rear terrain-tracing sub-system that provides a belowtravel of the foot member relative to the frame.

Embodiment 27. The system of Embodiment 26, wherein the middle and belowrear terrain-tracing subsystems are coupled such that a feedback signalis generated between the middle, above terrain-tracing subsystems inresponse to at least one of the middle travel or the above travel.

Embodiment 28. The system of Embodiment 1, wherein the system furtherincludes a cantilevered bottom bracket.

Embodiment 29. The system of Embodiment 1, wherein the frame member isconfigurable in an anti-squat orientation and a pro-squat orientation.

Embodiment 30. The system of Embodiment 1, wherein the system furtherincludes a sensor that actively adjusts a terrain-tracing systemparameter in response to a current position of a center of mass of avehicle payload.

Embodiment 31. A vehicle that includes: a frame member that includes anabove-frame portion, a middle frame portion, and a below frame portion;a front ground-engaging member coupled to a front portion of the middleframe portion; a rear ground-engaging member coupled to a rear portionof the middle frame portion; a saddle coupled to a rear portion of theabove-frame portion and configured and arranged to support a firstportion of a mass of a rider when the rider is seated in the saddle; ahand member coupled to a front portion of the above-frame portion andconfigured and arranged to support a second portion of the rider's masswhen at least one hand of the rider is in contact with the hand member;and a vehicle suspension system that includes a first above-suspensionthat provides a first above-vehicle travel in response to a vehicleload, wherein the first above-vehicle travel includes a relative travelbetween the frame member and at least one of the saddle or the handmember; a first middle-suspension that provides a first middle-vehicletravel in response to the vehicle load, wherein the first middle-vehicletravel includes a relative travel between the frame member and at leastone of the front ground-engaging member or the rear ground-engagingmember; and a first suspension coupling that provides a first feedbackload based on at least one of the first above-vehicle travel or thefirst middle-vehicle travel and the first feedback load is included inthe vehicle load.

Embodiment 32. The vehicle of Embodiment 31, wherein the firstabove-suspension is a rear-above suspension, the first above-vehicletravel is a relative travel between the frame member and the saddle, thefirst middle-suspension is a rear middle-suspension, and the firstmiddle-vehicle travel is a relative travel between the frame member andthe rear ground-engaging member.

Embodiment 33. The vehicle of Embodiment 32, wherein the vehiclesuspension system further includes: a front-above suspension thatprovides a second above-vehicle travel in response to the vehicle load,wherein the second above-vehicle travel includes a relative travelbetween the frame member and the hand member; a front-middle suspensionthat provides a second middle-vehicle travel in response to the vehicleload, wherein the second middle-vehicle travel includes a relativetravel between the frame member and the front ground-engaging member;and a second suspension coupling that provides a second feedback loadbased on at least one of the second above-vehicle travel or the secondmiddle-vehicle travel and the second feedback load is included in thevehicle load.

Embodiment 34. The vehicle of Embodiment 32, wherein the vehicle furtherincludes a foot member coupled to a rear portion of the below frameportion and configured and arranged to support a third portion of therider's mass when at least one foot of the rider is in contact with thefoot member; and the suspension system further includes a rearbelow-suspension that provides a first below-vehicle travel in responseto the vehicle load, wherein the first below-vehicle travel includes arelative travel between the frame member and the foot member.

Embodiment 35. The vehicle of Embodiment 31, wherein the firstabove-suspension is a front-above suspension, the first above-vehicletravel is a relative travel between the frame member and the handmember, the first middle-suspension is a front-middle suspension, andthe first middle-vehicle travel is a relative travel between the framemember and the front ground-engaging member.

Embodiment 36. The vehicle of Embodiment 35, wherein the suspensionsystem further includes a front below-suspension that provides a firstbelow-vehicle travel in response to the vehicle load, wherein the firstbelow-vehicle travel includes another relative travel between the framemember and the front ground-engaging member.

Embodiment 37. The vehicle of Embodiment 31, wherein the firstmiddle-suspension includes a slide link that couples the frame memberand the at least one of the front ground-engaging member or the rearground-engaging member.

Embodiment 38. The vehicle of Embodiment 37, wherein the firstmiddle-suspension includes a slide link that couples the frame memberand the at least one of the front ground-engaging member or the rearground-engaging member.

Embodiment 39. The vehicle of Embodiment 38, wherein the slide linktranslates along a member that is pivotally coupled to the frame member.

Embodiment 40. The vehicle of Embodiment 38, wherein the slide linktranslates along a member that is rigidly coupled to the frame member.

Embodiment 41. The vehicle of Embodiment 38, wherein the first middlesuspension further includes an eccentric link that pivotally couples arear swingarm and the frame member.

Embodiment 42. The vehicle of Embodiment 37, wherein the firstmiddle-suspension is a front-middle suspension and the firstmiddle-vehicle travel is a relative travel between the frame member andthe front ground-engaging member.

Embodiment 43. The vehicle of Embodiment 31, wherein the firstmiddle-suspension includes an eccentric link that pivotally couples theframe member and the at least one of the front ground-engaging member orthe rear ground-engaging member.

Embodiment 44. The vehicle of Embodiment 43, wherein the eccentric linkprovides the first suspension coupling.

Embodiment 45. The vehicle of Embodiment 31, wherein the frame memberincludes a flexible top tube member that flexibly couples the saddle tothe frame member such that the first above-vehicle travel includes arelative travel between the frame member and the saddle.

Embodiment 46. The vehicle of Embodiment 31, wherein the frame memberincludes a top tube member that is pivotally couples the saddle to theframe member such that the first above-vehicle travel includes arelative travel between the frame member and the saddle.

Embodiment 47. The vehicle of Embodiment 31, wherein the firstabove-vehicle travel includes a relative rotation between the handmember and the frame member and the first middle-vehicle travel includesa relative translation between the front ground-engaging member and theframe member.

Embodiment 48. The vehicle of Embodiment 31, wherein the vehiclesuspension system further includes a biasing member to at leastpartially inhibit the transmittance of the feedback load between thefirst above-suspension and the first middle suspension.

Embodiment 49. The vehicle of Embodiment 48, wherein the biasing memberis a leaf spring.

Embodiment 50. The vehicle of Embodiment 31, wherein the vehiclesuspension system includes a control link that pivotally couples a rearmember to the frame member, wherein the rear member is coupled to therear ground-engaging member.

Embodiment 51. The vehicle of Embodiment 50, wherein another linkfurther couples the rear swingarm to the frame member.

Embodiment 52. The vehicle of Embodiment 51, wherein the other link isoriented in substantial alignment a drivetrain load of the vehicle, suchthat a majority of the drivetrain load is transmitted by the other link.

Embodiment 53. The vehicle of Embodiment 51, wherein the other link is aslide link that translates along a stanchion that is rigidly coupled tothe rear swingarm.

Embodiment 54. The vehicle of Embodiment 53, wherein the control link iscoupled to the rear swingarm such that the control link crosses thecontrol link.

Embodiment 55. The vehicle of Embodiment 53, wherein the control link iscoupled to the rear swingarm such that the control link does not crosscompletely above the control link.

Embodiment 56. The vehicle of Embodiment 51, wherein the control link iscoupled to a foot member that is coupled to the frame member to enable arelative travel between the foot member and the frame member, such thata rotation of the control link relative to the frame member induces therelative travel between the foot member and the frame member.

Embodiment 57. The vehicle of Embodiment 31, wherein at least one of thefirst above-vehicle travel or the middle-vehicle travel is a digressivetravel.

Embodiment 58. The vehicle of Embodiment 31, wherein at least one of thefirst above-vehicle travel or the middle-vehicle travel is a progressivetravel.

Embodiment 59. The vehicle of Embodiment 31, wherein the firstabove-vehicle travel is a compensatory travel relative to the firstmiddle-vehicle travel.

Embodiment 60. The vehicle of Embodiment 31, wherein a travel ratiobetween the first above-vehicle travel and the first middle-vehicletravel is based on at least the first suspension coupling.

Embodiment 61. A vehicle comprising: a plurality of ground-engagingmembers; a frame supported by the plurality of ground-engaging members;a saddle that supports at least a first portion of a mass of a rider; ahandle member that supports at least a second portion of the mass of therider; a drivetrain that provides energy to at least one of theplurality of ground-engaging members; a braking system that dissipatesenergy away from at least one of the ground-engaging members; aground-tracing system that couples at least one of the ground-engagingmembers to the frame and suspends the frame relative to the at least oneground-engaging member; a sensing system that at least partiallygenerates a CM-shift signal based on a CM-shift of a vehicle payload,wherein the vehicle payload includes at least the mass of the rider; andwherein at least one operational parameter of the vehicle is based on atleast the generated CM-shift signal.

Embodiment 62. The vehicle of Embodiment 61, wherein the CM-shift signalis generated at the handle member.

Embodiment 63. The vehicle of Embodiment 61, wherein the ground-tracingsystem includes at least a middle suspension that provides a middletravel between the frame and at least one of the ground-engaging membersand an above suspension that provides an above travel between the frameand at least one of the saddle or the handle member.

Embodiment 64. The vehicle of Embodiment 63, wherein the middlesuspension is a rear middle suspension, the middle travel is between theframe and a rear ground-engaging member, the above suspension is arear-above suspension, and the above travel is between the frame and thesaddle member.

Embodiment 65. The vehicle of Embodiment 63, wherein the middlesuspension is a front-middle suspension, the middle travel is betweenthe frame and a front ground-engaging member, the above suspension is afront-above suspension, and the above travel is between the frame andthe handle member.

Embodiment 66. The vehicle of Embodiment 61, wherein the ground-tracingsystem includes at least a middle suspension that provides a middletravel between the frame and at least one of the ground-engaging membersand a below suspension that provides a below travel between the frameand at least one of a foot member or a front ground-engaging member.

Embodiment 67. The vehicle of Embodiment 66, wherein the middlesuspension is a rear middle suspension, the middle travel is between theframe and a rear ground-engaging member, the below suspension is a rearbelow suspension, and the below travel is between the frame and the footmember.

Embodiment 68. The vehicle of Embodiment 66, wherein the middlesuspension is a front-middle suspension, the middle travel is includes atranslation between the frame and a front ground-engaging member, thebelow suspension is a front below suspension, and the below travelincludes a rotation between the frame and the front ground-engagingmember.

Embodiment 69. The vehicle of Embodiment 61, wherein the sensing systemincludes a coupling between a first relative travel of theground-tracing system and a second relative travel of the ground-tracingsystem.

Embodiment 70. The vehicle of Embodiment 69, wherein the couplingbetween the first and the second relative travel includes at least amechanical link.

Embodiment 71. The vehicle of Embodiment 69, wherein the couplingbetween the first and the second relative travel includes at least oneof a pneumatic coupling or a hydraulic coupling.

Embodiment 72. The vehicle of Embodiment 69, wherein the couplingbetween the first and the second relative travel includes at least atleast an electrical coupling.

Embodiment 73. The vehicle of Embodiment 69, wherein the couplinggenerates the CM-shift signal.

Embodiment 74. The vehicle of Embodiment 69, wherein the first and thesecond relative travels are compensating travels such that a geometryparameter of the vehicle remains substantially constant over a rangeassociated with the first and the second relative travels.

Embodiment 75. The vehicle of Embodiment 69, wherein at least one of thefirst or second relative travels generates a progressive variance on theoperation parameter.

Embodiment 76. The vehicle of Embodiment 69, wherein at least one of thefirst or second relative travels generates a digressive variance on theoperation parameter.

Embodiment 77. The vehicle of Embodiment 69, wherein the sensing systemfurther includes a clutch assembly to disengage and engage the coupling.

Embodiment 78. The vehicle of Embodiment 69, wherein a travel aspectratio between the first and the second relative travels is based on thecoupling.

Embodiment 79. The vehicle of Embodiment 69, wherein the sensing systemfurther includes a controlling unit that controls a coupling strength ofthe coupling.

Embodiment 80. The vehicle of Embodiment 69, wherein the couplingincludes at least one of a plurality of gears, a transmission assembly,or a power source.

Embodiment 81. The vehicle of Embodiment 69, wherein the operationalparameters include a travel aspect ratio between the first and thesecond relative travels.

Embodiment 82. The vehicle of Embodiment 61, wherein the a framegeometry of the frame is based on a geometry parameter, theground-tracing system is parameterized by a suspension parameter, thebraking system is parameterized by a braking parameter, and thedrivetrain is parameterized by a drivetrain parameter, and wherein theoperational parameter includes at least one of geometry parameter, thesuspension parameters, the braking parameter, or the drivetrainparameter.

Embodiment 83. The vehicle of Embodiment 61, wherein the operationalparameter includes at least one of a spring rate, or damping strengthassociated with the ground-tracing system.

Embodiment 84. A portion of a vehicle, the portion including: a frame; afront ground-engaging member; a front ground-tracking system thatcouples the front ground-engaging member to the frame and is configuredand arranged to provide a relative movement between the frontground-engaging member and the frame in response to a vehicle load; ahandgrip that is coupled to the frame and configured and arranged toprovide a point of contact between a hand of a rider and the vehicle; asensor that is configured and arranged to sense a generally upward loadon the hand grip, wherein in response to sensing the generally upwardload on the hand grip generating an adjust signal that at leastpartially inhibits the relative movement between the frontground-engaging member and the frame.

Embodiment 85. A vehicle that includes: a frame; a front wheel mountingassembly that is coupled to the frame and is configured and arranged tocouple a front wheel to the vehicle; a handlebar member that is coupledto the frame and is configured and arranged to provide a point ofcontact between a hand of a rider and the vehicle; a frontground-tracking system that, in response to a vehicle load, provides arelative translation between the frame and the front wheel mountingassembly along a translation axis and a relative rotation between thehandlebar member and the frame about a rotation axis, wherein thetranslation axis is substantially transverse to the rotation axis.

Embodiment 86. A vehicle that includes: a frame; a rear wheel mountingassembly configured and arranged to couple a rear wheel to the vehicle,wherein the rear wheel mounting assembly includes a drivetrain memberthat is substantially aligned with an axis of a drivetrain of thevehicle and a stay member that is oriented at an angle with respect tothe drivetrain member and wherein each of the drivetrain member and thestay member is coupled to the frame, and wherein at least one of thedrivetrain member or the stay member is a flexible member such that theangle between the drivetrain member and the stay member varies inresponse to a vehicle load.

Embodiment 87. A vehicle that includes: a frame that includes a headmember; a front wheel mounting assembly configured and arranged tocouple a front wheel to the vehicle and at least a portion of the frontwheel mounting assembly is received by the head member of the frame suchthat the front wheel mounting assembly is coupled to the front wheel;and a biasing member at least partially disposed within the head memberthat is configured and arranged to bias a relative travel between theframe and the front wheel mounting assembly.

Embodiment 88. The vehicle of Embodiment 87 that further includes: anenergy-dissipating member at least partially disposed within the headmember that is configured and arranged to dissipate at least a portionof energy associated with the relative travel between the frame and thefront wheel mounting assembly.

Embodiment 89. The vehicle of Embodiment 87, wherein the biasing memberis an elastomeric member.

Embodiment 90. The vehicle of Embodiment 87, wherein the biasing memberis a microcellular urethane spring.

Embodiment 91. The vehicle of Embodiment 87, wherein a suspension traveloccurs interior to the head tube.

Embodiment 92. A vehicle that includes: a head tube; a concentricsteerer tube configuration that includes at least a first steerer tubeconcentric to a second steerer tube, wherein at least a portion of theconcentric steerer tube configuration in positioned within the headtube.

Embodiment 93. The vehicle of Embodiment 92, wherein a lower linkcouples a movement of the concentric steerer tube configuration withanother movement of a wheel mounting assembly included with the vehicle.

All of the embodiments and methods disclosed and claimed herein can bemade and executed without undue experimentation in light of the presentdisclosure. While the preferred embodiment of the invention has beenillustrated and described, as noted above, many changes can be madewithout departing from the spirit and scope of the invention.Accordingly, the scope of the invention is not limited by the disclosureof the preferred embodiment. Instead, the invention should be determinedentirely by reference to the claims that follow.

1-12. (canceled)
 13. A vehicle, comprising: a front fork; a head tube;and a handlebar support; wherein said front fork comprises an upperportion and a lower portion, said upper portion is rotatably mounted tosaid head tube, said lower portion is movably mounted to said upperportion, and a distance of said handlebar support to said head tube isdependent on a position of said lower portion relative to said upperportion.
 14. The vehicle of claim 13, wherein said lower portion islinearly movable relative to said upper portion.
 15. The vehicle ofclaim 13, wherein said front fork supports a terrain-engaging member.16. The vehicle of claim 13, comprising a handlebar mounted to saidhandlebar support; wherein said distance is a vertical distance betweensaid handlebar and said head tube.
 17. The vehicle of claim 13, whereinsaid vehicle is selected from the group consisting of a two-wheeledvehicle and a bicycle.
 18. A vehicle, comprising: a front fork; aterrain-engaging member; a head tube; and a handlebar support; whereinsaid front fork comprises a receptacle that receives an axle of saidterrain-engaging member, said front fork is rotatably mounted to saidhead tube, and a distance of said handlebar support to said head tube isdependent on a position of said receptacle relative to said handlebarsupport.
 19. The vehicle of claim 18, comprising a handlebar mounted tosaid handlebar support; wherein said distance is a vertical distancebetween said handlebar and said head tube.
 20. The vehicle of claim 18,wherein said vehicle is selected from the group consisting of atwo-wheeled vehicle and a bicycle.
 21. A vehicle, comprising: a frontfork; a head tube; and a handlebar support; wherein said front forkcomprises an upper portion and a lower portion, said upper portion isrotatably mounted to said head tube, said lower portion is movablymounted to said upper portion, and a distance of said handlebar supportto said head tube is dependent on a pressure of a medium providedbetween said lower portion and said upper portion.
 22. The vehicle ofclaim 21, wherein said lower portion is linearly movable relative tosaid upper portion.
 23. The vehicle of claim 21, wherein said front forksupports a terrain-engaging member.
 24. The vehicle of claim 21,comprising a handlebar mounted to said handlebar support; wherein saiddistance is a vertical distance between said handlebar and said headtube.
 25. The vehicle of claim 21, wherein said vehicle is selected fromthe group consisting of a two-wheeled vehicle and a bicycle.
 26. Thevehicle of claim 21, wherein said medium is a damping medium.